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