# 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)

#

# 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 two sets of files.

#

# 1. schur_eliminator_x_x_x.cc

# where, the x indicates the template parameters and

#

# 2. schur_eliminator.cc

#

# that contains a factory function for instantiating these classes

# based on runtime parameters.

#

# The list of tuples, specializations indicates the set of

# specializations that is generated.

# Set of template specializations to generate

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)

//

// Template specialization of SchurEliminator.

//

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

// 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.

"""

DYNAMIC_FILE = """

#include "ceres/schur_eliminator_impl.h"

#include "ceres/internal/eigen.h"

namespace ceres {

namespace internal {

template class SchurEliminator<%s, %s, %s>;

}  // namespace internal

}  // namespace ceres

"""

SPECIALIZATION_FILE = """

// This include must come before any #ifndef check on Ceres compile options.

#include "ceres/internal/port.h"

#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION

#include "ceres/schur_eliminator_impl.h"

#include "ceres/internal/eigen.h"

namespace ceres {

namespace internal {

template class SchurEliminator<%s, %s, %s>;

}  // namespace internal

}  // namespace ceres

#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION

"""

FACTORY_FILE_HEADER = """

#include "ceres/linear_solver.h"

#include "ceres/schur_eliminator.h"

#include "ceres/internal/eigen.h"

namespace ceres {

namespace internal {

SchurEliminatorBase*

SchurEliminatorBase::Create(const LinearSolver::Options& options) {

#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION

"""

FACTORY = """ return new SchurEliminator<%s, %s, %s>(options);"""

FACTORY_FOOTER = """

#endif

  VLOG(1) << "Template specializations not found for <"

          << options.row_block_size << ","

          << options.e_block_size << ","

          << options.f_block_size << ">";

  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);

}

}  // namespace internal

}  // namespace ceres

"""