Visual Servoing Platform version 3.5.0
vpMatrix_mul.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * BLAS subroutines.
33 *
34 *****************************************************************************/
35
36#include <visp3/core/vpConfig.h>
37#include <visp3/core/vpMatrix.h>
38
39#ifndef DOXYGEN_SHOULD_SKIP_THIS
40
41// Since GSL doesn't provide Fortran interface for Lapack we should use
42// gsl_blas_dgemm() and gsl_blas_dgemv() instead of dgemm() and dgemv().
43// As a side effect, it means that we have to allocate and copy the matrix
44// or vector content in a gsl_matrix or gsl_vector. This is not acceptable here.
45// that's why we prefer use naive code when VISP_HAVE_GSL is defined.
46#if defined(VISP_HAVE_LAPACK)
47# ifdef VISP_HAVE_MKL
48#include <mkl.h>
49typedef MKL_INT integer;
50
51void vpMatrix::blas_dgemm(char trans_a, char trans_b, unsigned int M_, unsigned int N_, unsigned int K_, double alpha,
52 double *a_data, unsigned int lda_, double *b_data, unsigned int ldb_, double beta, double *c_data,
53 unsigned int ldc_)
54{
55 MKL_INT M = static_cast<MKL_INT>(M_);
56 MKL_INT N = static_cast<MKL_INT>(N_);
57 MKL_INT K = static_cast<MKL_INT>(K_);
58 MKL_INT lda = static_cast<MKL_INT>(lda_);
59 MKL_INT ldb = static_cast<MKL_INT>(ldb_);
60 MKL_INT ldc = static_cast<MKL_INT>(ldc_);
61
62 dgemm(&trans_a, &trans_b, &M, &N, &K, &alpha, a_data, &lda, b_data, &ldb, &beta, c_data, &ldc);
63}
64
65void vpMatrix::blas_dgemv(char trans, unsigned int M_, unsigned int N_, double alpha, double *a_data, unsigned int lda_,
66 double *x_data, int incx_, double beta, double *y_data, int incy_)
67{
68 MKL_INT M = static_cast<MKL_INT>(M_);
69 MKL_INT N = static_cast<MKL_INT>(N_);
70 MKL_INT lda = static_cast<MKL_INT>(lda_);
71 MKL_INT incx = static_cast<MKL_INT>(incx_);
72 MKL_INT incy = static_cast<MKL_INT>(incy_);
73
74 dgemv(&trans, &M, &N, &alpha, a_data, &lda, x_data, &incx, &beta, y_data, &incy);
75}
76# elif !defined(VISP_HAVE_GSL)
77# ifdef VISP_HAVE_LAPACK_BUILT_IN
78typedef long int integer;
79# else
80typedef int integer;
81# endif
82
83extern "C" void dgemm_(char *transa, char *transb, integer *M, integer *N, integer *K, double *alpha, double *a,
84 integer *lda, double *b, integer *ldb, double *beta, double *c, integer *ldc);
85
86extern "C" void dgemv_(char *trans, integer *M, integer *N, double *alpha, double *a, integer *lda, double *x,
87 integer *incx, double *beta, double *y, integer *incy);
88
89void vpMatrix::blas_dgemm(char trans_a, char trans_b, unsigned int M_, unsigned int N_, unsigned int K_, double alpha,
90 double *a_data, unsigned int lda_, double *b_data, unsigned int ldb_, double beta, double *c_data,
91 unsigned int ldc_)
92{
93 integer M = static_cast<integer>(M_);
94 integer K = static_cast<integer>(K_);
95 integer N = static_cast<integer>(N_);
96 integer lda = static_cast<integer>(lda_);
97 integer ldb = static_cast<integer>(ldb_);
98 integer ldc = static_cast<integer>(ldc_);
99
100 dgemm_(&trans_a, &trans_b, &M, &N, &K, &alpha, a_data, &lda, b_data, &ldb, &beta, c_data, &ldc);
101}
102
103void vpMatrix::blas_dgemv(char trans, unsigned int M_, unsigned int N_, double alpha, double *a_data, unsigned int lda_,
104 double *x_data, int incx_, double beta, double *y_data, int incy_)
105{
106 integer M = static_cast<integer>(M_);
107 integer N = static_cast<integer>(N_);
108 integer lda = static_cast<integer>(lda_);
109 integer incx = static_cast<integer>(incx_);
110 integer incy = static_cast<integer>(incy_);
111
112 dgemv_(&trans, &M, &N, &alpha, a_data, &lda, x_data, &incx, &beta, y_data, &incy);
113}
114# endif
115#else
116// Work arround to avoid warning LNK4221: This object file does not define any
117// previously undefined public symbols
118void dummy_vpMatrix_blas() {};
119#endif
120
121#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS