void writer_run(const reader_t* reader)
{
context_t context;
context_initialize(&context);
calc_work(&context, reader);
allocate_work(&context);
read(&context, &reader);
context_finalize(&context);
}
vpMatrix vpMatrix::inverseByQRLapack() const{
int rowNum_ = (int)this->getRows();
int colNum_ = (int)this->getCols();
int lda = (int)rowNum_; //lda is the number of rows because we don't use a submatrix
int dimTau = std::min(rowNum_,colNum_);
int dimWork = -1;
double *tau = new double[dimTau];
double *work = new double[1];
int info;
vpMatrix C;
vpMatrix A = *this;
try{
//1) Extract householder reflections (useful to compute Q) and R
dgeqrf_(
&rowNum_, //The number of rows of the matrix A. M >= 0.
&colNum_, //The number of columns of the matrix A. N >= 0.
A.data, /*On entry, the M-by-N matrix A.
On exit, the elements on and above the diagonal of the array
contain the min(M,N)-by-N upper trapezoidal matrix R (R is
upper triangular if m >= n); the elements below the diagonal,
with the array TAU, represent the orthogonal matrix Q as a
product of min(m,n) elementary reflectors.
*/
&lda, //The leading dimension of the array A. LDA >= max(1,M).
tau, /*Dimension (min(M,N))
The scalar factors of the elementary reflectors
*/
work, //Internal working array. dimension (MAX(1,LWORK))
&dimWork, //The dimension of the array WORK. LWORK >= max(1,N).
&info //status
);
if(info != 0){
std::cout << "dgeqrf_:Preparation:" << -info << "th element had an illegal value" << std::endl;
throw vpMatrixException::badValue;
}
dimWork = allocate_work(&work);
dgeqrf_(
&rowNum_, //The number of rows of the matrix A. M >= 0.
&colNum_, //The number of columns of the matrix A. N >= 0.
A.data, /*On entry, the M-by-N matrix A.
On exit, the elements on and above the diagonal of the array
contain the min(M,N)-by-N upper trapezoidal matrix R (R is
upper triangular if m >= n); the elements below the diagonal,
with the array TAU, represent the orthogonal matrix Q as a
product of min(m,n) elementary reflectors.
*/
&lda, //The leading dimension of the array A. LDA >= max(1,M).
tau, /*Dimension (min(M,N))
The scalar factors of the elementary reflectors
*/
work, //Internal working array. dimension (MAX(1,LWORK))
&dimWork, //The dimension of the array WORK. LWORK >= max(1,N).
&info //status
);
if(info != 0){
std::cout << "dgeqrf_:" << -info << "th element had an illegal value" << std::endl;
throw vpMatrixException::badValue;
}
//A now contains the R matrix in its upper triangular (in lapack convention)
C = A;
//2) Invert R
dtrtri_((char*)"U",(char*)"N",&dimTau,C.data,&lda,&info);
if(info!=0){
if(info < 0)
std::cout << "dtrtri_:"<< -info << "th element had an illegal value" << std::endl;
else if(info > 0){
std::cout << "dtrtri_:R("<< info << "," <<info << ")"<< " is exactly zero. The triangular matrix is singular and its inverse can not be computed." << std::endl;
std::cout << "R=" << std::endl << C << std::endl;
}
throw vpMatrixException::badValue;
}
//3) Zero-fill R^-1
//the matrix is upper triangular for lapack but lower triangular for visp
//we fill it with zeros above the diagonal (where we don't need the values)
for(unsigned int i=0;i<C.getRows();i++)
for(unsigned int j=0;j<C.getRows();j++)
if(j>i) C[i][j] = 0.;
dimWork = -1;
int ldc = lda;
//4) Transpose Q and left-multiply it by R^-1
//get R^-1*tQ
//C contains R^-1
//A contains Q
dormqr_((char*)"R", (char*)"T", &rowNum_, &colNum_, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
if(info != 0){
std::cout << "dormqr_:Preparation"<< -info << "th element had an illegal value" << std::endl;
throw vpMatrixException::badValue;
}
dimWork = allocate_work(&work);
dormqr_((char*)"R", (char*)"T", &rowNum_, &colNum_, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
if(info != 0){
std::cout << "dormqr_:"<< -info << "th element had an illegal value" << std::endl;
throw vpMatrixException::badValue;
}
delete[] tau;
delete[] work;
}catch(vpMatrixException&){
delete[] tau;
delete[] work;
throw;
}
return C;
}
bool atomic_base<Base>::rev_sparse_hes(
const vector<Base>& x ,
const local::pod_vector<size_t>& x_index ,
const local::pod_vector<size_t>& y_index ,
const InternalSparsity& for_jac_sparsity ,
bool* rev_jac_flag ,
InternalSparsity& rev_hes_sparsity )
{ CPPAD_ASSERT_UNKNOWN( for_jac_sparsity.end() == rev_hes_sparsity.end() );
size_t q = rev_hes_sparsity.end();
size_t n = x_index.size();
size_t m = y_index.size();
bool ok = false;
size_t thread = thread_alloc::thread_num();
allocate_work(thread);
bool zero_empty = true;
bool input_empty = false;
bool transpose = false;
//
// vx
vector<bool> vx(n);
for(size_t j = 0; j < n; j++)
vx[j] = x_index[j] != 0;
//
// note that s and t are vectors so transpose does not matter for bool case
vector<bool> bool_s( work_[thread]->bool_s );
vector<bool> bool_t( work_[thread]->bool_t );
//
bool_s.resize(m);
bool_t.resize(n);
//
for(size_t i = 0; i < m; i++)
{ if( y_index[i] > 0 )
bool_s[i] = rev_jac_flag[ y_index[i] ];
}
//
std::string msg = ": atomic_base.rev_sparse_hes: returned false";
if( sparsity_ == pack_sparsity_enum )
{ vectorBool& pack_r( work_[thread]->pack_r );
vectorBool& pack_u( work_[thread]->pack_u );
vectorBool& pack_v( work_[thread]->pack_h );
//
pack_v.resize(n * q);
//
local::get_internal_sparsity(
transpose, x_index, for_jac_sparsity, pack_r
);
local::get_internal_sparsity(
transpose, y_index, rev_hes_sparsity, pack_u
);
//
ok = rev_sparse_hes(vx, bool_s, bool_t, q, pack_r, pack_u, pack_v, x);
if( ! ok )
ok = rev_sparse_hes(vx, bool_s, bool_t, q, pack_r, pack_u, pack_v);
if( ! ok )
{ msg = afun_name() + msg + " sparsity = pack_sparsity_enum";
CPPAD_ASSERT_KNOWN(false, msg.c_str());
}
local::set_internal_sparsity(zero_empty, input_empty,
transpose, x_index, rev_hes_sparsity, pack_v
);
}
else if( sparsity_ == bool_sparsity_enum )
{ vector<bool>& bool_r( work_[thread]->bool_r );
vector<bool>& bool_u( work_[thread]->bool_u );
vector<bool>& bool_v( work_[thread]->bool_h );
//
bool_v.resize(n * q);
//
local::get_internal_sparsity(
transpose, x_index, for_jac_sparsity, bool_r
);
local::get_internal_sparsity(
transpose, y_index, rev_hes_sparsity, bool_u
);
//
ok = rev_sparse_hes(vx, bool_s, bool_t, q, bool_r, bool_u, bool_v, x);
if( ! ok )
ok = rev_sparse_hes(vx, bool_s, bool_t, q, bool_r, bool_u, bool_v);
if( ! ok )
{ msg = afun_name() + msg + " sparsity = bool_sparsity_enum";
CPPAD_ASSERT_KNOWN(false, msg.c_str());
}
local::set_internal_sparsity(zero_empty, input_empty,
transpose, x_index, rev_hes_sparsity, bool_v
);
}
else
{ CPPAD_ASSERT_UNKNOWN( sparsity_ == set_sparsity_enum );
vector< std::set<size_t> >& set_r( work_[thread]->set_r );
vector< std::set<size_t> >& set_u( work_[thread]->set_u );
vector< std::set<size_t> >& set_v( work_[thread]->set_h );
//
set_v.resize(n);
//
local::get_internal_sparsity(
transpose, x_index, for_jac_sparsity, set_r
);
local::get_internal_sparsity(
transpose, y_index, rev_hes_sparsity, set_u
);
//
ok = rev_sparse_hes(vx, bool_s, bool_t, q, set_r, set_u, set_v, x);
if( ! ok )
ok = rev_sparse_hes(vx, bool_s, bool_t, q, set_r, set_u, set_v);
if( ! ok )
{ msg = afun_name() + msg + " sparsity = set_sparsity_enum";
CPPAD_ASSERT_KNOWN(false, msg.c_str());
}
local::set_internal_sparsity(zero_empty, input_empty,
transpose, x_index, rev_hes_sparsity, set_v
);
}
for(size_t j = 0; j < n; j++)
{ if( x_index[j] > 0 )
rev_jac_flag[ x_index[j] ] |= bool_t[j];
}
return ok;
}