1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2013 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#include "ceres/blas.h" 32#include "ceres/internal/port.h" 33#include "glog/logging.h" 34 35extern "C" void dsyrk_(char* uplo, 36 char* trans, 37 int* n, 38 int* k, 39 double* alpha, 40 double* a, 41 int* lda, 42 double* beta, 43 double* c, 44 int* ldc); 45 46namespace ceres { 47namespace internal { 48 49void BLAS::SymmetricRankKUpdate(int num_rows, 50 int num_cols, 51 const double* a, 52 bool transpose, 53 double alpha, 54 double beta, 55 double* c) { 56#ifdef CERES_NO_LAPACK 57 LOG(FATAL) << "Ceres was built without a BLAS library."; 58#else 59 char uplo = 'L'; 60 char trans = transpose ? 'T' : 'N'; 61 int n = transpose ? num_cols : num_rows; 62 int k = transpose ? num_rows : num_cols; 63 int lda = k; 64 int ldc = n; 65 dsyrk_(&uplo, 66 &trans, 67 &n, 68 &k, 69 &alpha, 70 const_cast<double*>(a), 71 &lda, 72 &beta, 73 c, 74 &ldc); 75#endif 76} 77 78} // namespace internal 79} // namespace ceres 80