# 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)

#

# Script for explicitly generating template specialization of the

# SchurEliminator class. It is a rather large class

# and the number of explicit instantiations is also large. Explicitly

# generating these instantiations in separate .cc files breaks the

# compilation into separate compilation unit rather than one large cc

# file which takes 2+GB of RAM to compile.

#

# This script creates three sets of files.

#

# 1. schur_eliminator_x_x_x.cc and partitioned_matrix_view_x_x_x.cc

# where, the x indicates the template parameters and

#

# 2. schur_eliminator.cc & partitioned_matrix_view.cc

#

# that contains a factory function for instantiating these classes

# based on runtime parameters.

#

# 3. schur_templates.cc

#

# that contains a function which can be queried to determine what

# template specializations are available.

#

# The following list of tuples, specializations indicates the set of

# specializations that is generated.

SPECIALIZATIONS = [(2, 2, 2),

                   (2, 2, 3),

                   (2, 2, 4),

                   (2, 2, "Eigen::Dynamic"),

                   (2, 3, 3),

                   (2, 3, 4),

                   (2, 3, 6),

                   (2, 3, 9),

                   (2, 3, "Eigen::Dynamic"),

                   (2, 4, 3),

                   (2, 4, 4),

                   (2, 4, 8),

                   (2, 4, 9),

                   (2, 4, "Eigen::Dynamic"),

                   (2, "Eigen::Dynamic", "Eigen::Dynamic"),

                   (4, 4, 2),

                   (4, 4, 3),

                   (4, 4, 4),

                   (4, 4, "Eigen::Dynamic")]

import schur_eliminator_template

import partitioned_matrix_view_template

import os

import glob

def SuffixForSize(size):

  if size == "Eigen::Dynamic":

    return "d"

  return str(size)

def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):

  return "_".join([prefix] + map(SuffixForSize, (row_block_size,

                                                 e_block_size,

                                                 f_block_size)))

def GenerateFactoryConditional(row_block_size, e_block_size, f_block_size):

  conditionals = []

  if (row_block_size != "Eigen::Dynamic"):

    conditionals.append("(options.row_block_size == %s)" % row_block_size)

  if (e_block_size != "Eigen::Dynamic"):

    conditionals.append("(options.e_block_size == %s)" % e_block_size)

  if (f_block_size != "Eigen::Dynamic"):

    conditionals.append("(options.f_block_size == %s)" % f_block_size)

  if (len(conditionals) == 0):

    return "%s"

  if (len(conditionals) == 1):

    return " if " + conditionals[0] + "{\n  %s\n }\n"

  return " if (" + " &&\n     ".join(conditionals) + ") {\n  %s\n }\n"

def Specialize(name, data):

  """

  Generate specialization code and the conditionals to instantiate it.

  """

  # Specialization files

  for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:

      output = SpecializationFilename("generated/" + name,

                                      row_block_size,

                                      e_block_size,

                                      f_block_size) + ".cc"

      with open(output, "w") as f:

        f.write(data["HEADER"])

        f.write(data["SPECIALIZATION_FILE"] %

                  (row_block_size, e_block_size, f_block_size))

  # Generate the _d_d_d specialization.

  output = SpecializationFilename("generated/" + name,

                                   "Eigen::Dynamic",

                                   "Eigen::Dynamic",

                                   "Eigen::Dynamic") + ".cc"

  with open(output, "w") as f:

    f.write(data["HEADER"])

    f.write(data["DYNAMIC_FILE"] %

              ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic"))

  # Factory

  with open(name + ".cc", "w") as f:

    f.write(data["HEADER"])

    f.write(data["FACTORY_FILE_HEADER"])

    for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:

        factory_conditional = GenerateFactoryConditional(

            row_block_size, e_block_size, f_block_size)

        factory = data["FACTORY"] % (row_block_size, e_block_size, f_block_size)

        f.write(factory_conditional % factory);

    f.write(data["FACTORY_FOOTER"])

QUERY_HEADER = """// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2017 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)

//

// What template specializations are available.

//

// ========================================

// THIS FILE IS AUTOGENERATED. DO NOT EDIT.

// THIS FILE IS AUTOGENERATED. DO NOT EDIT.

// THIS FILE IS AUTOGENERATED. DO NOT EDIT.

// THIS FILE IS AUTOGENERATED. DO NOT EDIT.

//=========================================

//

// This file is generated using generate_template_specializations.py.

"""

QUERY_FILE_HEADER = """

#include "ceres/internal/eigen.h"

#include "ceres/schur_templates.h"

namespace ceres {

namespace internal {

void GetBestSchurTemplateSpecialization(int* row_block_size,

                                        int* e_block_size,

                                        int* f_block_size) {

  LinearSolver::Options options;

  options.row_block_size = *row_block_size;

  options.e_block_size = *e_block_size;

  options.f_block_size = *f_block_size;

  *row_block_size = Eigen::Dynamic;

  *e_block_size = Eigen::Dynamic;

  *f_block_size = Eigen::Dynamic;

#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION

"""

QUERY_FOOTER = """

#endif

  return;

}

}  // namespace internal

}  // namespace ceres

"""

QUERY_ACTION = """ *row_block_size = %s;

   *e_block_size = %s;

   *f_block_size = %s;

  return;"""

def GenerateQueryFile():

  """

  Generate file that allows querying for available template specializations.

  """

  with open("schur_templates.cc", "w") as f:

    f.write(QUERY_HEADER)

    f.write(QUERY_FILE_HEADER)

    for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:

      factory_conditional = GenerateFactoryConditional(

        row_block_size, e_block_size, f_block_size)

      action = QUERY_ACTION % (row_block_size, e_block_size, f_block_size)

      f.write(factory_conditional % action)

    f.write(QUERY_FOOTER)

if __name__ == "__main__":

  for f in glob.glob("generated/*"):

    os.remove(f)

  Specialize("schur_eliminator",

               schur_eliminator_template.__dict__)

  Specialize("partitioned_matrix_view",

               partitioned_matrix_view_template.__dict__)

  GenerateQueryFile()