| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2015 Google Inc. All rights reserved.// http://ceres-solver.org///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#include "ceres/lapack.h"#include "ceres/internal/port.h"#include "ceres/linear_solver.h"#include "glog/logging.h"#ifndef CERES_NO_LAPACK// C interface to the LAPACK Cholesky factorization and triangular solve.extern "C" void dpotrf_(char* uplo,                       int* n,                       double* a,                       int* lda,                       int* info);extern "C" void dpotrs_(char* uplo,                        int* n,                        int* nrhs,                        double* a,                        int* lda,                        double* b,                        int* ldb,                        int* info);extern "C" void dgels_(char* uplo,                       int* m,                       int* n,                       int* nrhs,                       double* a,                       int* lda,                       double* b,                       int* ldb,                       double* work,                       int* lwork,                       int* info);#endifnamespace ceres {namespace internal {LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky(    int num_rows,    const double* in_lhs,    double* rhs_and_solution,    std::string* message) {#ifdef CERES_NO_LAPACK  LOG(FATAL) << "Ceres was built without a BLAS library.";  return LINEAR_SOLVER_FATAL_ERROR;#else  char uplo = 'L';  int n = num_rows;  int info = 0;  int nrhs = 1;  double* lhs = const_cast<double*>(in_lhs);  dpotrf_(&uplo, &n, lhs, &n, &info);  if (info < 0) {    LOG(FATAL) << "Congratulations, you found a bug in Ceres."               << "Please report it."               << "LAPACK::dpotrf fatal error."               << "Argument: " << -info << " is invalid.";    return LINEAR_SOLVER_FATAL_ERROR;  }  if (info > 0) {    *message =        StringPrintf(            "LAPACK::dpotrf numerical failure. "             "The leading minor of order %d is not positive definite.", info);    return LINEAR_SOLVER_FAILURE;  }  dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info);  if (info < 0) {    LOG(FATAL) << "Congratulations, you found a bug in Ceres."               << "Please report it."               << "LAPACK::dpotrs fatal error."               << "Argument: " << -info << " is invalid.";    return LINEAR_SOLVER_FATAL_ERROR;  }  *message = "Success";  return LINEAR_SOLVER_SUCCESS;#endif}int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) {#ifdef CERES_NO_LAPACK  LOG(FATAL) << "Ceres was built without a LAPACK library.";  return -1;#else  char trans = 'N';  int nrhs = 1;  int lwork = -1;  double work;  int info = 0;  dgels_(&trans,         &num_rows,         &num_cols,         &nrhs,         NULL,         &num_rows,         NULL,         &num_rows,         &work,         &lwork,         &info);  if (info < 0) {    LOG(FATAL) << "Congratulations, you found a bug in Ceres."               << "Please report it."               << "LAPACK::dgels fatal error."               << "Argument: " << -info << " is invalid.";  }  return static_cast<int>(work);#endif}LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR(    int num_rows,    int num_cols,    const double* in_lhs,    int work_size,    double* work,    double* rhs_and_solution,    std::string* message) {#ifdef CERES_NO_LAPACK  LOG(FATAL) << "Ceres was built without a LAPACK library.";  return LINEAR_SOLVER_FATAL_ERROR;#else  char trans = 'N';  int m = num_rows;  int n = num_cols;  int nrhs = 1;  int lda = num_rows;  int ldb = num_rows;  int info = 0;  double* lhs = const_cast<double*>(in_lhs);  dgels_(&trans,         &m,         &n,         &nrhs,         lhs,         &lda,         rhs_and_solution,         &ldb,         work,         &work_size,         &info);  if (info < 0) {    LOG(FATAL) << "Congratulations, you found a bug in Ceres."               << "Please report it."               << "LAPACK::dgels fatal error."               << "Argument: " << -info << " is invalid.";  }  *message = "Success.";  return LINEAR_SOLVER_SUCCESS;#endif}}  // namespace internal}  // namespace ceres
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