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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: mierle@gmail.com (Keir Mierle)
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#ifndef CERES_PUBLIC_VERSION_H_
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#define CERES_PUBLIC_VERSION_H_
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#define CERES_VERSION_MAJOR 1
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#define CERES_VERSION_MINOR 14
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#define CERES_VERSION_REVISION 0
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// Classic CPP stringifcation; the extra level of indirection allows the
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// preprocessor to expand the macro before being converted to a string.
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#define CERES_TO_STRING_HELPER(x) #x
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#define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
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// The Ceres version as a string; for example "1.9.0".
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#define CERES_VERSION_STRING CERES_TO_STRING(CERES_VERSION_MAJOR) "." \
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CERES_TO_STRING(CERES_VERSION_MINOR) "." \
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CERES_TO_STRING(CERES_VERSION_REVISION)
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#endif // CERES_PUBLIC_VERSION_H_
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@ -1,159 +0,0 @@
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//#define EIGEN_POWER_USE_PREFETCH // Use prefetching in gemm routines
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#ifdef EIGEN_POWER_USE_PREFETCH
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#define EIGEN_POWER_PREFETCH(p) prefetch(p)
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#else
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#define EIGEN_POWER_PREFETCH(p)
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#endif
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namespace Eigen {
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namespace internal {
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template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols>
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EIGEN_ALWAYS_INLINE void gemm_extra_row(
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const DataMapper& res,
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const Scalar* lhs_base,
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const Scalar* rhs_base,
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Index depth,
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Index strideA,
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Index offsetA,
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Index row,
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Index col,
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Index rows,
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Index cols,
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Index remaining_rows,
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const Packet& pAlpha,
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const Packet& pMask);
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template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
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EIGEN_STRONG_INLINE void gemm_extra_cols(
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const DataMapper& res,
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const Scalar* blockA,
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const Scalar* blockB,
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Index depth,
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Index strideA,
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Index offsetA,
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Index strideB,
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Index offsetB,
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Index col,
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Index rows,
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Index cols,
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Index remaining_rows,
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const Packet& pAlpha,
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const Packet& pMask);
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template<typename Packet>
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EIGEN_ALWAYS_INLINE Packet bmask(const int remaining_rows);
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template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
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EIGEN_ALWAYS_INLINE void gemm_complex_extra_row(
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const DataMapper& res,
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const Scalar* lhs_base,
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const Scalar* rhs_base,
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Index depth,
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Index strideA,
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Index offsetA,
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Index strideB,
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Index row,
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Index col,
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Index rows,
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Index cols,
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Index remaining_rows,
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const Packet& pAlphaReal,
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const Packet& pAlphaImag,
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const Packet& pMask);
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template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
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EIGEN_STRONG_INLINE void gemm_complex_extra_cols(
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const DataMapper& res,
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const Scalar* blockA,
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const Scalar* blockB,
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Index depth,
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Index strideA,
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Index offsetA,
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Index strideB,
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Index offsetB,
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Index col,
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Index rows,
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Index cols,
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Index remaining_rows,
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const Packet& pAlphaReal,
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const Packet& pAlphaImag,
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const Packet& pMask);
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template<typename Scalar, typename Packet>
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EIGEN_ALWAYS_INLINE Packet ploadLhs(const Scalar* lhs);
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template<typename DataMapper, typename Packet, typename Index, const Index accCols, int StorageOrder, bool Complex, int N>
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EIGEN_ALWAYS_INLINE void bload(PacketBlock<Packet,N>& acc, const DataMapper& res, Index row, Index col);
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template<typename Packet, int N>
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EIGEN_ALWAYS_INLINE void bscale(PacketBlock<Packet,N>& acc, PacketBlock<Packet,N>& accZ, const Packet& pAlpha);
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template<typename Packet, int N>
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EIGEN_ALWAYS_INLINE void bscalec(PacketBlock<Packet,N>& aReal, PacketBlock<Packet,N>& aImag, const Packet& bReal, const Packet& bImag, PacketBlock<Packet,N>& cReal, PacketBlock<Packet,N>& cImag);
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// Grab two decouples real/imaginary PacketBlocks and return two coupled (real/imaginary pairs) PacketBlocks.
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template<typename Packet, typename Packetc, int N>
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EIGEN_ALWAYS_INLINE void bcouple_common(PacketBlock<Packet,N>& taccReal, PacketBlock<Packet,N>& taccImag, PacketBlock<Packetc, N>& acc1, PacketBlock<Packetc, N>& acc2)
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{
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acc1.packet[0].v = vec_mergeh(taccReal.packet[0], taccImag.packet[0]);
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if (N > 1) {
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acc1.packet[1].v = vec_mergeh(taccReal.packet[1], taccImag.packet[1]);
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}
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if (N > 2) {
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acc1.packet[2].v = vec_mergeh(taccReal.packet[2], taccImag.packet[2]);
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}
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if (N > 3) {
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acc1.packet[3].v = vec_mergeh(taccReal.packet[3], taccImag.packet[3]);
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}
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acc2.packet[0].v = vec_mergel(taccReal.packet[0], taccImag.packet[0]);
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if (N > 1) {
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acc2.packet[1].v = vec_mergel(taccReal.packet[1], taccImag.packet[1]);
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}
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if (N > 2) {
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acc2.packet[2].v = vec_mergel(taccReal.packet[2], taccImag.packet[2]);
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}
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if (N > 3) {
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acc2.packet[3].v = vec_mergel(taccReal.packet[3], taccImag.packet[3]);
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}
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}
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template<typename Packet, typename Packetc, int N>
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EIGEN_ALWAYS_INLINE void bcouple(PacketBlock<Packet,N>& taccReal, PacketBlock<Packet,N>& taccImag, PacketBlock<Packetc,N*2>& tRes, PacketBlock<Packetc, N>& acc1, PacketBlock<Packetc, N>& acc2)
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{
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bcouple_common<Packet, Packetc, N>(taccReal, taccImag, acc1, acc2);
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acc1.packet[0] = padd<Packetc>(tRes.packet[0], acc1.packet[0]);
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if (N > 1) {
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acc1.packet[1] = padd<Packetc>(tRes.packet[1], acc1.packet[1]);
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}
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if (N > 2) {
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acc1.packet[2] = padd<Packetc>(tRes.packet[2], acc1.packet[2]);
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}
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if (N > 3) {
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acc1.packet[3] = padd<Packetc>(tRes.packet[3], acc1.packet[3]);
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}
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acc2.packet[0] = padd<Packetc>(tRes.packet[0+N], acc2.packet[0]);
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if (N > 1) {
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acc2.packet[1] = padd<Packetc>(tRes.packet[1+N], acc2.packet[1]);
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}
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if (N > 2) {
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acc2.packet[2] = padd<Packetc>(tRes.packet[2+N], acc2.packet[2]);
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}
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if (N > 3) {
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acc2.packet[3] = padd<Packetc>(tRes.packet[3+N], acc2.packet[3]);
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}
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}
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// This is necessary because ploadRhs for double returns a pair of vectors when MMA is enabled.
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template<typename Scalar, typename Packet>
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EIGEN_ALWAYS_INLINE Packet ploadRhs(const Scalar* rhs)
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{
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return ploadu<Packet>(rhs);
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}
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} // end namespace internal
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} // end namespace Eigen
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Load Diff
@ -0,0 +1,49 @@
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: mierle@gmail.com (Keir Mierle)
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#ifndef CERES_PUBLIC_VERSION_H_
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#define CERES_PUBLIC_VERSION_H_
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#define CERES_VERSION_MAJOR 2
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#define CERES_VERSION_MINOR 2
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#define CERES_VERSION_REVISION 0
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// Classic CPP stringifcation; the extra level of indirection allows the
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// preprocessor to expand the macro before being converted to a string.
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#define CERES_TO_STRING_HELPER(x) #x
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#define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
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// The Ceres version as a string; for example "1.9.0".
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#define CERES_VERSION_STRING \
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CERES_TO_STRING(CERES_VERSION_MAJOR) \
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"." CERES_TO_STRING(CERES_VERSION_MINOR) "." CERES_TO_STRING( \
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CERES_VERSION_REVISION)
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#endif // CERES_PUBLIC_VERSION_H_
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