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
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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
35 extern "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
46 namespace ceres {
47 namespace internal {
48
SymmetricRankKUpdate(int num_rows,int num_cols,const double * a,bool transpose,double alpha,double beta,double * c)49 void 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