1# Ceres Solver - A fast non-linear least squares minimizer
2# Copyright 2010, 2011, 2012, 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# Script for explicitly generating template specialization of the
32# SchurEliminator class. It is a rather large class
33# and the number of explicit instantiations is also large. Explicitly
34# generating these instantiations in separate .cc files breaks the
35# compilation into separate compilation unit rather than one large cc
36# file which takes 2+GB of RAM to compile.
37#
38# This script creates two sets of files.
39#
40# 1. schur_eliminator_x_x_x.cc
41# where, the x indicates the template parameters and
42#
43# 2. schur_eliminator.cc
44#
45# that contains a factory function for instantiating these classes
46# based on runtime parameters.
47#
48# The list of tuples, specializations indicates the set of
49# specializations that is generated.
50
51# Set of template specializations to generate
52SPECIALIZATIONS = [(2, 2, 2),
53                   (2, 2, 3),
54                   (2, 2, 4),
55                   (2, 2, "Eigen::Dynamic"),
56                   (2, 3, 3),
57                   (2, 3, 4),
58                   (2, 3, 9),
59                   (2, 3, "Eigen::Dynamic"),
60                   (2, 4, 3),
61                   (2, 4, 4),
62                   (2, 4, 8),
63                   (2, 4, 9),
64                   (2, 4, "Eigen::Dynamic"),
65                   (2, "Eigen::Dynamic", "Eigen::Dynamic"),
66                   (4, 4, 2),
67                   (4, 4, 3),
68                   (4, 4, 4),
69                   (4, 4, "Eigen::Dynamic"),
70                   ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
71HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
72// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
73// http://code.google.com/p/ceres-solver/
74//
75// Redistribution and use in source and binary forms, with or without
76// modification, are permitted provided that the following conditions are met:
77//
78// * Redistributions of source code must retain the above copyright notice,
79//   this list of conditions and the following disclaimer.
80// * Redistributions in binary form must reproduce the above copyright notice,
81//   this list of conditions and the following disclaimer in the documentation
82//   and/or other materials provided with the distribution.
83// * Neither the name of Google Inc. nor the names of its contributors may be
84//   used to endorse or promote products derived from this software without
85//   specific prior written permission.
86//
87// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
88// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
89// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
90// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
91// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
92// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
93// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
94// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
95// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
96// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
97// POSSIBILITY OF SUCH DAMAGE.
98//
99// Author: sameeragarwal@google.com (Sameer Agarwal)
100//
101// Template specialization of SchurEliminator.
102//
103// ========================================
104// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
105// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
106// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
107// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
108//=========================================
109//
110// This file is generated using generate_eliminator_specialization.py.
111// Editing it manually is not recommended.
112"""
113
114DYNAMIC_FILE = """
115
116#include "ceres/schur_eliminator_impl.h"
117#include "ceres/internal/eigen.h"
118
119namespace ceres {
120namespace internal {
121
122template class SchurEliminator<%s, %s, %s>;
123
124}  // namespace internal
125}  // namespace ceres
126"""
127
128SPECIALIZATION_FILE = """
129// This include must come before any #ifndef check on Ceres compile options.
130#include "ceres/internal/port.h"
131
132#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
133
134#include "ceres/schur_eliminator_impl.h"
135#include "ceres/internal/eigen.h"
136
137namespace ceres {
138namespace internal {
139
140template class SchurEliminator<%s, %s, %s>;
141
142}  // namespace internal
143}  // namespace ceres
144
145#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
146"""
147
148FACTORY_FILE_HEADER = """
149#include "ceres/linear_solver.h"
150#include "ceres/schur_eliminator.h"
151#include "ceres/internal/eigen.h"
152
153namespace ceres {
154namespace internal {
155
156SchurEliminatorBase*
157SchurEliminatorBase::Create(const LinearSolver::Options& options) {
158#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
159"""
160
161FACTORY_CONDITIONAL = """  if ((options.row_block_size == %s) &&
162      (options.e_block_size == %s) &&
163      (options.f_block_size == %s)) {
164    return new SchurEliminator<%s, %s, %s>(options);
165  }
166"""
167
168FACTORY_FOOTER = """
169#endif
170  VLOG(1) << "Template specializations not found for <"
171          << options.row_block_size << ","
172          << options.e_block_size << ","
173          << options.f_block_size << ">";
174  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
175}
176
177}  // namespace internal
178}  // namespace ceres
179"""
180
181
182def SuffixForSize(size):
183  if size == "Eigen::Dynamic":
184    return "d"
185  return str(size)
186
187
188def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
189  return "_".join([prefix] + map(SuffixForSize, (row_block_size,
190                                                 e_block_size,
191                                                 f_block_size)))
192
193
194def Specialize():
195  """
196  Generate specialization code and the conditionals to instantiate it.
197  """
198  f = open("schur_eliminator.cc", "w")
199  f.write(HEADER)
200  f.write(FACTORY_FILE_HEADER)
201
202  for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
203    output = SpecializationFilename("generated/schur_eliminator",
204                                    row_block_size,
205                                    e_block_size,
206                                    f_block_size) + ".cc"
207    fptr = open(output, "w")
208    fptr.write(HEADER)
209
210    template = SPECIALIZATION_FILE
211    if (row_block_size == "Eigen::Dynamic" and
212        e_block_size == "Eigen::Dynamic" and
213        f_block_size == "Eigen::Dynamic"):
214      template = DYNAMIC_FILE
215
216    fptr.write(template % (row_block_size, e_block_size, f_block_size))
217    fptr.close()
218
219    f.write(FACTORY_CONDITIONAL % (row_block_size,
220                                   e_block_size,
221                                   f_block_size,
222                                   row_block_size,
223                                   e_block_size,
224                                   f_block_size))
225  f.write(FACTORY_FOOTER)
226  f.close()
227
228
229if __name__ == "__main__":
230  Specialize()
231