Eigne Matrix Class Library
Dependents: MPC_current_control HydraulicControlBoard_SW AHRS Test_ekf ... more
src/Cholesky/LLT_MKL.h@1:3b8049da21b8, 2019-09-24 (annotated)
- Committer:
- jsoh91
- Date:
- Tue Sep 24 00:18:23 2019 +0000
- Revision:
- 1:3b8049da21b8
- Parent:
- 0:13a5d365ba16
ignore and revise some of error parts
Who changed what in which revision?
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ykuroda | 0:13a5d365ba16 | 1 | /* |
ykuroda | 0:13a5d365ba16 | 2 | Copyright (c) 2011, Intel Corporation. All rights reserved. |
ykuroda | 0:13a5d365ba16 | 3 | |
ykuroda | 0:13a5d365ba16 | 4 | Redistribution and use in source and binary forms, with or without modification, |
ykuroda | 0:13a5d365ba16 | 5 | are permitted provided that the following conditions are met: |
ykuroda | 0:13a5d365ba16 | 6 | |
ykuroda | 0:13a5d365ba16 | 7 | * Redistributions of source code must retain the above copyright notice, this |
ykuroda | 0:13a5d365ba16 | 8 | list of conditions and the following disclaimer. |
ykuroda | 0:13a5d365ba16 | 9 | * Redistributions in binary form must reproduce the above copyright notice, |
ykuroda | 0:13a5d365ba16 | 10 | this list of conditions and the following disclaimer in the documentation |
ykuroda | 0:13a5d365ba16 | 11 | and/or other materials provided with the distribution. |
ykuroda | 0:13a5d365ba16 | 12 | * Neither the name of Intel Corporation nor the names of its contributors may |
ykuroda | 0:13a5d365ba16 | 13 | be used to endorse or promote products derived from this software without |
ykuroda | 0:13a5d365ba16 | 14 | specific prior written permission. |
ykuroda | 0:13a5d365ba16 | 15 | |
ykuroda | 0:13a5d365ba16 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND |
ykuroda | 0:13a5d365ba16 | 17 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
ykuroda | 0:13a5d365ba16 | 18 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
ykuroda | 0:13a5d365ba16 | 19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR |
ykuroda | 0:13a5d365ba16 | 20 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
ykuroda | 0:13a5d365ba16 | 21 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
ykuroda | 0:13a5d365ba16 | 22 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON |
ykuroda | 0:13a5d365ba16 | 23 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
ykuroda | 0:13a5d365ba16 | 24 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
ykuroda | 0:13a5d365ba16 | 25 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
ykuroda | 0:13a5d365ba16 | 26 | |
ykuroda | 0:13a5d365ba16 | 27 | ******************************************************************************** |
ykuroda | 0:13a5d365ba16 | 28 | * Content : Eigen bindings to Intel(R) MKL |
ykuroda | 0:13a5d365ba16 | 29 | * LLt decomposition based on LAPACKE_?potrf function. |
ykuroda | 0:13a5d365ba16 | 30 | ******************************************************************************** |
ykuroda | 0:13a5d365ba16 | 31 | */ |
ykuroda | 0:13a5d365ba16 | 32 | |
ykuroda | 0:13a5d365ba16 | 33 | #ifndef EIGEN_LLT_MKL_H |
ykuroda | 0:13a5d365ba16 | 34 | #define EIGEN_LLT_MKL_H |
ykuroda | 0:13a5d365ba16 | 35 | |
ykuroda | 0:13a5d365ba16 | 36 | #include "Eigen/src/Core/util/MKL_support.h" |
ykuroda | 0:13a5d365ba16 | 37 | #include <iostream> |
ykuroda | 0:13a5d365ba16 | 38 | |
ykuroda | 0:13a5d365ba16 | 39 | namespace Eigen { |
ykuroda | 0:13a5d365ba16 | 40 | |
ykuroda | 0:13a5d365ba16 | 41 | namespace internal { |
ykuroda | 0:13a5d365ba16 | 42 | |
ykuroda | 0:13a5d365ba16 | 43 | template<typename Scalar> struct mkl_llt; |
ykuroda | 0:13a5d365ba16 | 44 | |
ykuroda | 0:13a5d365ba16 | 45 | #define EIGEN_MKL_LLT(EIGTYPE, MKLTYPE, MKLPREFIX) \ |
ykuroda | 0:13a5d365ba16 | 46 | template<> struct mkl_llt<EIGTYPE> \ |
ykuroda | 0:13a5d365ba16 | 47 | { \ |
ykuroda | 0:13a5d365ba16 | 48 | template<typename MatrixType> \ |
ykuroda | 0:13a5d365ba16 | 49 | static inline typename MatrixType::Index potrf(MatrixType& m, char uplo) \ |
ykuroda | 0:13a5d365ba16 | 50 | { \ |
ykuroda | 0:13a5d365ba16 | 51 | lapack_int matrix_order; \ |
ykuroda | 0:13a5d365ba16 | 52 | lapack_int size, lda, info, StorageOrder; \ |
ykuroda | 0:13a5d365ba16 | 53 | EIGTYPE* a; \ |
ykuroda | 0:13a5d365ba16 | 54 | eigen_assert(m.rows()==m.cols()); \ |
ykuroda | 0:13a5d365ba16 | 55 | /* Set up parameters for ?potrf */ \ |
ykuroda | 0:13a5d365ba16 | 56 | size = m.rows(); \ |
ykuroda | 0:13a5d365ba16 | 57 | StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \ |
ykuroda | 0:13a5d365ba16 | 58 | matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \ |
ykuroda | 0:13a5d365ba16 | 59 | a = &(m.coeffRef(0,0)); \ |
ykuroda | 0:13a5d365ba16 | 60 | lda = m.outerStride(); \ |
ykuroda | 0:13a5d365ba16 | 61 | \ |
ykuroda | 0:13a5d365ba16 | 62 | info = LAPACKE_##MKLPREFIX##potrf( matrix_order, uplo, size, (MKLTYPE*)a, lda ); \ |
ykuroda | 0:13a5d365ba16 | 63 | info = (info==0) ? -1 : info>0 ? info-1 : size; \ |
ykuroda | 0:13a5d365ba16 | 64 | return info; \ |
ykuroda | 0:13a5d365ba16 | 65 | } \ |
ykuroda | 0:13a5d365ba16 | 66 | }; \ |
ykuroda | 0:13a5d365ba16 | 67 | template<> struct llt_inplace<EIGTYPE, Lower> \ |
ykuroda | 0:13a5d365ba16 | 68 | { \ |
ykuroda | 0:13a5d365ba16 | 69 | template<typename MatrixType> \ |
ykuroda | 0:13a5d365ba16 | 70 | static typename MatrixType::Index blocked(MatrixType& m) \ |
ykuroda | 0:13a5d365ba16 | 71 | { \ |
ykuroda | 0:13a5d365ba16 | 72 | return mkl_llt<EIGTYPE>::potrf(m, 'L'); \ |
ykuroda | 0:13a5d365ba16 | 73 | } \ |
ykuroda | 0:13a5d365ba16 | 74 | template<typename MatrixType, typename VectorType> \ |
ykuroda | 0:13a5d365ba16 | 75 | static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ |
ykuroda | 0:13a5d365ba16 | 76 | { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \ |
ykuroda | 0:13a5d365ba16 | 77 | }; \ |
ykuroda | 0:13a5d365ba16 | 78 | template<> struct llt_inplace<EIGTYPE, Upper> \ |
ykuroda | 0:13a5d365ba16 | 79 | { \ |
ykuroda | 0:13a5d365ba16 | 80 | template<typename MatrixType> \ |
ykuroda | 0:13a5d365ba16 | 81 | static typename MatrixType::Index blocked(MatrixType& m) \ |
ykuroda | 0:13a5d365ba16 | 82 | { \ |
ykuroda | 0:13a5d365ba16 | 83 | return mkl_llt<EIGTYPE>::potrf(m, 'U'); \ |
ykuroda | 0:13a5d365ba16 | 84 | } \ |
ykuroda | 0:13a5d365ba16 | 85 | template<typename MatrixType, typename VectorType> \ |
ykuroda | 0:13a5d365ba16 | 86 | static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ |
ykuroda | 0:13a5d365ba16 | 87 | { \ |
ykuroda | 0:13a5d365ba16 | 88 | Transpose<MatrixType> matt(mat); \ |
ykuroda | 0:13a5d365ba16 | 89 | return llt_inplace<EIGTYPE, Lower>::rankUpdate(matt, vec.conjugate(), sigma); \ |
ykuroda | 0:13a5d365ba16 | 90 | } \ |
ykuroda | 0:13a5d365ba16 | 91 | }; |
ykuroda | 0:13a5d365ba16 | 92 | |
ykuroda | 0:13a5d365ba16 | 93 | EIGEN_MKL_LLT(double, double, d) |
ykuroda | 0:13a5d365ba16 | 94 | EIGEN_MKL_LLT(float, float, s) |
ykuroda | 0:13a5d365ba16 | 95 | EIGEN_MKL_LLT(dcomplex, MKL_Complex16, z) |
ykuroda | 0:13a5d365ba16 | 96 | EIGEN_MKL_LLT(scomplex, MKL_Complex8, c) |
ykuroda | 0:13a5d365ba16 | 97 | |
ykuroda | 0:13a5d365ba16 | 98 | } // end namespace internal |
ykuroda | 0:13a5d365ba16 | 99 | |
ykuroda | 0:13a5d365ba16 | 100 | } // end namespace Eigen |
ykuroda | 0:13a5d365ba16 | 101 | |
ykuroda | 0:13a5d365ba16 | 102 | #endif // EIGEN_LLT_MKL_H |