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[wpimath] Add script for updating Eigen
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
f1e64b349a
commit
fdbbf11887
@@ -33,11 +33,11 @@
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#include "src/Cholesky/LDLT.h"
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#ifdef EIGEN_USE_LAPACKE
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#ifdef EIGEN_USE_MKL
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#include "mkl_lapacke.h"
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// #include "mkl_lapacke.h"
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#else
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#include "src/misc/lapacke.h"
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// #include "src/misc/lapacke.h"
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#endif
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#include "src/Cholesky/LLT_LAPACKE.h"
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// #include "src/Cholesky/LLT_LAPACKE.h"
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#endif
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#include "src/Core/util/ReenableStupidWarnings.h"
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@@ -381,8 +381,8 @@ using std::ptrdiff_t;
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#include "src/Core/arch/SSE/MathFunctions.h"
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#include "src/Core/arch/AVX/PacketMath.h"
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#include "src/Core/arch/AVX/MathFunctions.h"
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#include "src/Core/arch/AVX512/PacketMath.h"
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#include "src/Core/arch/AVX512/MathFunctions.h"
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// #include "src/Core/arch/AVX512/PacketMath.h"
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// #include "src/Core/arch/AVX512/MathFunctions.h"
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#elif defined EIGEN_VECTORIZE_AVX
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// Use AVX for floats and doubles, SSE for integers
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#include "src/Core/arch/SSE/PacketMath.h"
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@@ -399,17 +399,17 @@ using std::ptrdiff_t;
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#include "src/Core/arch/SSE/Complex.h"
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#include "src/Core/arch/SSE/TypeCasting.h"
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#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
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#include "src/Core/arch/AltiVec/PacketMath.h"
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#include "src/Core/arch/AltiVec/MathFunctions.h"
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#include "src/Core/arch/AltiVec/Complex.h"
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// #include "src/Core/arch/AltiVec/PacketMath.h"
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// #include "src/Core/arch/AltiVec/MathFunctions.h"
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// #include "src/Core/arch/AltiVec/Complex.h"
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#elif defined EIGEN_VECTORIZE_NEON
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#include "src/Core/arch/NEON/PacketMath.h"
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#include "src/Core/arch/NEON/MathFunctions.h"
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#include "src/Core/arch/NEON/Complex.h"
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#elif defined EIGEN_VECTORIZE_ZVECTOR
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#include "src/Core/arch/ZVector/PacketMath.h"
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#include "src/Core/arch/ZVector/MathFunctions.h"
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#include "src/Core/arch/ZVector/Complex.h"
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// #include "src/Core/arch/ZVector/PacketMath.h"
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// #include "src/Core/arch/ZVector/MathFunctions.h"
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// #include "src/Core/arch/ZVector/Complex.h"
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#endif
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// Half float support
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@@ -418,8 +418,8 @@ using std::ptrdiff_t;
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// #include "src/Core/arch/CUDA/TypeCasting.h"
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#if defined EIGEN_VECTORIZE_CUDA
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#include "src/Core/arch/CUDA/PacketMath.h"
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#include "src/Core/arch/CUDA/MathFunctions.h"
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// #include "src/Core/arch/CUDA/PacketMath.h"
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// #include "src/Core/arch/CUDA/MathFunctions.h"
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#endif
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#include "src/Core/arch/Default/Settings.h"
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@@ -521,18 +521,18 @@ using std::ptrdiff_t;
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#include "src/Core/ArrayWrapper.h"
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#ifdef EIGEN_USE_BLAS
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#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
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#include "src/Core/products/GeneralMatrixVector_BLAS.h"
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#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
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#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
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#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
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#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
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#include "src/Core/products/TriangularMatrixVector_BLAS.h"
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#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
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// #include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
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// #include "src/Core/products/GeneralMatrixVector_BLAS.h"
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// #include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
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// #include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
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// #include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
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// #include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
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// #include "src/Core/products/TriangularMatrixVector_BLAS.h"
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// #include "src/Core/products/TriangularSolverMatrix_BLAS.h"
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#endif // EIGEN_USE_BLAS
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#ifdef EIGEN_USE_MKL_VML
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#include "src/Core/Assign_MKL.h"
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// #include "src/Core/Assign_MKL.h"
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#endif
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#include "src/Core/GlobalFunctions.h"
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@@ -1,2 +0,0 @@
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#include "Dense"
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#include "Sparse"
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@@ -46,13 +46,13 @@
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#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
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#ifdef EIGEN_USE_LAPACKE
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#ifdef EIGEN_USE_MKL
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#include "mkl_lapacke.h"
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// #include "mkl_lapacke.h"
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#else
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#include "src/misc/lapacke.h"
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// #include "src/misc/lapacke.h"
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#endif
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#include "src/Eigenvalues/RealSchur_LAPACKE.h"
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#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
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#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
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// #include "src/Eigenvalues/RealSchur_LAPACKE.h"
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// #include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
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// #include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
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#endif
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#include "src/Core/util/ReenableStupidWarnings.h"
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@@ -29,11 +29,11 @@
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#include "src/LU/PartialPivLU.h"
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#ifdef EIGEN_USE_LAPACKE
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#ifdef EIGEN_USE_MKL
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#include "mkl_lapacke.h"
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// #include "mkl_lapacke.h"
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#else
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#include "src/misc/lapacke.h"
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// #include "src/misc/lapacke.h"
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#endif
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#include "src/LU/PartialPivLU_LAPACKE.h"
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// #include "src/LU/PartialPivLU_LAPACKE.h"
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#endif
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#include "src/LU/Determinant.h"
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#include "src/LU/InverseImpl.h"
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@@ -37,12 +37,12 @@
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#include "src/QR/CompleteOrthogonalDecomposition.h"
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#ifdef EIGEN_USE_LAPACKE
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#ifdef EIGEN_USE_MKL
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#include "mkl_lapacke.h"
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// #include "mkl_lapacke.h"
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#else
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#include "src/misc/lapacke.h"
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// #include "src/misc/lapacke.h"
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#endif
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#include "src/QR/HouseholderQR_LAPACKE.h"
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#include "src/QR/ColPivHouseholderQR_LAPACKE.h"
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// #include "src/QR/HouseholderQR_LAPACKE.h"
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// #include "src/QR/ColPivHouseholderQR_LAPACKE.h"
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#endif
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#include "src/Core/util/ReenableStupidWarnings.h"
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@@ -38,11 +38,11 @@
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#include "src/SVD/BDCSVD.h"
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#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
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#ifdef EIGEN_USE_MKL
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#include "mkl_lapacke.h"
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// #include "mkl_lapacke.h"
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#else
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#include "src/misc/lapacke.h"
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// #include "src/misc/lapacke.h"
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#endif
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#include "src/SVD/JacobiSVD_LAPACKE.h"
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// #include "src/SVD/JacobiSVD_LAPACKE.h"
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#endif
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#include "src/Core/util/ReenableStupidWarnings.h"
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@@ -1,178 +0,0 @@
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/*
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Copyright (c) 2011, Intel Corporation. All rights reserved.
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Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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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 Intel Corporation nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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********************************************************************************
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* Content : Eigen bindings to Intel(R) MKL
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* MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin()
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********************************************************************************
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*/
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#ifndef EIGEN_ASSIGN_VML_H
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#define EIGEN_ASSIGN_VML_H
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namespace Eigen {
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namespace internal {
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template<typename Dst, typename Src>
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class vml_assign_traits
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{
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private:
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enum {
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DstHasDirectAccess = Dst::Flags & DirectAccessBit,
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SrcHasDirectAccess = Src::Flags & DirectAccessBit,
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StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)),
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InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
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: int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
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: int(Dst::RowsAtCompileTime),
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InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
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: int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
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: int(Dst::MaxRowsAtCompileTime),
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MaxSizeAtCompileTime = Dst::SizeAtCompileTime,
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MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
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MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit),
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VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize,
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LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD
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};
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public:
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enum {
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EnableVml = MightEnableVml && LargeEnough,
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Traversal = MightLinearize ? LinearTraversal : DefaultTraversal
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};
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};
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#define EIGEN_PP_EXPAND(ARG) ARG
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#if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
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#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
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#else
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#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
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#endif
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#define EIGEN_VMLMODE_EXPAND__
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#define EIGEN_VMLMODE_PREFIX_LA vm
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#define EIGEN_VMLMODE_PREFIX__ v
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#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
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#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \
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template< typename DstXprType, typename SrcXprNested> \
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struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>, \
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Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> { \
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typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType; \
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static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) { \
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resize_if_allowed(dst, src, func); \
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eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \
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if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) { \
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VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(), \
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(VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \
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} else { \
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const Index outerSize = dst.outerSize(); \
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for(Index outer = 0; outer < outerSize; ++outer) { \
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const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) : \
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&(src.nestedExpression().coeffRef(0, outer)); \
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EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \
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VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, \
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(VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \
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} \
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} \
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} \
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}; \
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#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE)
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#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE)
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#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin, Sin, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin, Asin, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh, Sinh, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos, Cos, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos, Acos, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh, Cosh, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan, Tan, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan, Atan, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh, Tanh, LA)
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// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs, Abs, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp, Exp, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log, Ln, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt, Sqrt, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor, _)
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EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil, Ceil, _)
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#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \
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template< typename DstXprType, typename SrcXprNested, typename Plain> \
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struct Assignment<DstXprType, CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested, \
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const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> >, assign_op<EIGENTYPE,EIGENTYPE>, \
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Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> { \
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typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested, \
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const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType; \
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static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) { \
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resize_if_allowed(dst, src, func); \
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eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \
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VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other); \
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if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) \
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{ \
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VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent, \
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(VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \
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} else { \
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const Index outerSize = dst.outerSize(); \
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for(Index outer = 0; outer < outerSize; ++outer) { \
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const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) : \
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&(src.lhs().coeffRef(0, outer)); \
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EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \
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VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent, \
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(VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \
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} \
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} \
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} \
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};
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EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float, float, LA)
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EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double, double, LA)
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EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8, LA)
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EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA)
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} // end namespace internal
|
||||
|
||||
} // end namespace Eigen
|
||||
|
||||
#endif // EIGEN_ASSIGN_VML_H
|
||||
197
wpimath/update_eigen.py
Executable file
197
wpimath/update_eigen.py
Executable file
@@ -0,0 +1,197 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import os
|
||||
import re
|
||||
import shutil
|
||||
import subprocess
|
||||
import tempfile
|
||||
|
||||
|
||||
def clone_repo(url, treeish):
|
||||
"""Clones a git repo at the given URL and checks out the given tree-ish
|
||||
(either branch or tag).
|
||||
|
||||
Keyword argument:
|
||||
url -- The URL of the git repo
|
||||
treeish -- The tree-ish to check out (branch or tag)
|
||||
"""
|
||||
repo = os.path.basename(url)
|
||||
dest = os.path.join(os.getcwd(), repo).rstrip(".git")
|
||||
|
||||
# Clone Git repository into current directory or update it
|
||||
if not os.path.exists(dest):
|
||||
subprocess.run(["git", "clone", url, dest])
|
||||
os.chdir(dest)
|
||||
else:
|
||||
os.chdir(dest)
|
||||
subprocess.run(["git", "fetch", "origin", treeish])
|
||||
|
||||
# Get list of heads
|
||||
# Example output of "git ls-remote --heads":
|
||||
# From https://gitlab.com/libeigen/eigen.git
|
||||
# 77c66e368c7e355f8be299659f57b0ffcaedb505 refs/heads/3.4
|
||||
# 3e006bfd31e4389e8c5718c30409cddb65a73b04 refs/heads/master
|
||||
ls_out = subprocess.check_output(["git", "ls-remote",
|
||||
"--heads"]).decode().rstrip()
|
||||
heads = [x.split()[1] for x in ls_out.split("\n")[1:]]
|
||||
|
||||
if f"refs/heads/{treeish}" in heads:
|
||||
# Checking out the remote branch avoids needing to handle syncing a
|
||||
# preexisting local one
|
||||
subprocess.run(["git", "checkout", f"origin/{treeish}"])
|
||||
else:
|
||||
subprocess.run(["git", "checkout", treeish])
|
||||
|
||||
|
||||
def eigen_inclusions(dp, f):
|
||||
"""Returns true if the given file in the "Eigen" include directory of the
|
||||
Eigen git repo should be copied into allwpilib
|
||||
|
||||
Keyword arguments:
|
||||
dp -- directory path
|
||||
f -- filename
|
||||
"""
|
||||
abspath = os.path.join(dp, f)
|
||||
|
||||
# Exclude build system
|
||||
if f == "CMakeLists.txt":
|
||||
return False
|
||||
|
||||
# Exclude code licensed under MPL2
|
||||
if f == "NonMPL2.h":
|
||||
return False
|
||||
|
||||
# Exclude BLAS support
|
||||
if f.endswith("_BLAS.h") or "blas" in f:
|
||||
return False
|
||||
|
||||
# Exclude LAPACK support
|
||||
if f.endswith("_LAPACKE.h") or "lapack" in f:
|
||||
return False
|
||||
|
||||
# Exclude MKL support
|
||||
if "MKL" in f:
|
||||
return False
|
||||
|
||||
# Include architectures we care about
|
||||
if "Core/arch/" in abspath:
|
||||
return ("arch/AVX/" in abspath or "arch/Default" in abspath or
|
||||
"arch/NEON" in abspath or "arch/SSE" in abspath)
|
||||
|
||||
# Include the following modules
|
||||
modules = [
|
||||
"Cholesky",
|
||||
"Core",
|
||||
"Eigenvalues",
|
||||
"Householder",
|
||||
"Jacobi",
|
||||
"LU",
|
||||
"QR",
|
||||
"SVD",
|
||||
"StlSupport",
|
||||
"misc",
|
||||
"plugins",
|
||||
]
|
||||
modules_rgx = r"|".join("/" + m for m in modules)
|
||||
|
||||
# "Std" matches StdDeque, StdList, and StdVector headers
|
||||
if re.search(modules_rgx, abspath) or "Std" in f:
|
||||
return True
|
||||
else:
|
||||
# Exclude all other modules
|
||||
return False
|
||||
|
||||
|
||||
def unsupported_inclusions(dp, f):
|
||||
"""Returns true if the given file in the "unsupported" include directory of
|
||||
the Eigen git repo should be copied into allwpilib
|
||||
|
||||
Keyword arguments:
|
||||
dp -- directory path
|
||||
f -- filename
|
||||
"""
|
||||
abspath = os.path.join(dp, f)
|
||||
|
||||
# Exclude build system and READMEs
|
||||
if f == "CMakeLists.txt" or "README" in f:
|
||||
return False
|
||||
|
||||
# Include the AutoDiff and MatrixFunctions modules
|
||||
return "AutoDiff" in abspath or "MatrixFunctions" in abspath
|
||||
|
||||
|
||||
def comment_out_invalid_includes(filename):
|
||||
"""Comment out #include directives that include a nonexistent file
|
||||
|
||||
Keyword arguments:
|
||||
filename -- file to search for includes
|
||||
"""
|
||||
# Read header
|
||||
with open(filename) as f:
|
||||
old_contents = f.read()
|
||||
|
||||
new_contents = ""
|
||||
pos = 0
|
||||
for match in re.finditer(r"#include \"([^\"]+)\"", old_contents):
|
||||
include = match.group(1)
|
||||
|
||||
# Write contents from before this match
|
||||
new_contents += old_contents[pos:match.span()[0]]
|
||||
|
||||
# Comment out #include if the file doesn't exist
|
||||
if not os.path.exists(os.path.join(os.path.dirname(filename), include)):
|
||||
new_contents += "// "
|
||||
|
||||
new_contents += match.group()
|
||||
pos = match.span()[1]
|
||||
|
||||
# Write rest of file if it wasn't all processed
|
||||
if pos < len(old_contents):
|
||||
new_contents += old_contents[pos:]
|
||||
|
||||
# Write modified file back out
|
||||
if old_contents != new_contents:
|
||||
with open(filename, "w") as f:
|
||||
f.write(new_contents)
|
||||
|
||||
|
||||
def main():
|
||||
cwd = os.getcwd()
|
||||
os.chdir(tempfile.gettempdir())
|
||||
clone_repo("https://gitlab.com/libeigen/eigen.git", "3.3.9")
|
||||
|
||||
# Get list of Eigen headers to copy
|
||||
files = [
|
||||
os.path.join(dp, f)
|
||||
for dp, dn, fn in os.walk("Eigen")
|
||||
for f in fn
|
||||
if eigen_inclusions(dp, f)
|
||||
]
|
||||
files += [
|
||||
os.path.join(dp, f)
|
||||
for dp, dn, fn in os.walk("unsupported")
|
||||
for f in fn
|
||||
if unsupported_inclusions(dp, f)
|
||||
]
|
||||
|
||||
# Delete old Eigen install
|
||||
include_root = os.path.join(cwd, "src/main/native/eigeninclude")
|
||||
for folder in ["Eigen", "unsupported"]:
|
||||
shutil.rmtree(os.path.join(include_root, folder), ignore_errors=True)
|
||||
|
||||
# Copy new Eigen into allwpilib
|
||||
for f in files:
|
||||
dest_file = os.path.join(include_root, f)
|
||||
dest_dir = os.path.dirname(dest_file)
|
||||
if not os.path.exists(dest_dir):
|
||||
os.makedirs(dest_dir)
|
||||
shutil.copyfile(f, dest_file)
|
||||
|
||||
# Comment out missing headers
|
||||
for f in files:
|
||||
dest_file = os.path.join(include_root, f)
|
||||
comment_out_invalid_includes(dest_file)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user