turtlebot_exploration_3d: MKL_support.h Source File

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00001 /*
00002  Copyright (c) 2011, Intel Corporation. All rights reserved.
00003 
00004  Redistribution and use in source and binary forms, with or without modification,
00005  are permitted provided that the following conditions are met:
00006 
00007  * Redistributions of source code must retain the above copyright notice, this
00008    list of conditions and the following disclaimer.
00009  * Redistributions in binary form must reproduce the above copyright notice,
00010    this list of conditions and the following disclaimer in the documentation
00011    and/or other materials provided with the distribution.
00012  * Neither the name of Intel Corporation nor the names of its contributors may
00013    be used to endorse or promote products derived from this software without
00014    specific prior written permission.
00015 
00016  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
00020  ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00023  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 
00027  ********************************************************************************
00028  *   Content : Eigen bindings to Intel(R) MKL
00029  *   Include file with common MKL declarations
00030  ********************************************************************************
00031 */
00032 
00033 #ifndef EIGEN_MKL_SUPPORT_H
00034 #define EIGEN_MKL_SUPPORT_H
00035 
00036 #ifdef EIGEN_USE_MKL_ALL
00037   #ifndef EIGEN_USE_BLAS
00038     #define EIGEN_USE_BLAS
00039   #endif
00040   #ifndef EIGEN_USE_LAPACKE
00041     #define EIGEN_USE_LAPACKE
00042   #endif
00043   #ifndef EIGEN_USE_MKL_VML
00044     #define EIGEN_USE_MKL_VML
00045   #endif
00046 #endif
00047 
00048 #ifdef EIGEN_USE_LAPACKE_STRICT
00049   #define EIGEN_USE_LAPACKE
00050 #endif
00051 
00052 #if defined(EIGEN_USE_BLAS) || defined(EIGEN_USE_LAPACKE) || defined(EIGEN_USE_MKL_VML)
00053   #define EIGEN_USE_MKL
00054 #endif
00055 
00056 #if defined EIGEN_USE_MKL
00057 #   include <mkl.h> 
00058 /*Check IMKL version for compatibility: < 10.3 is not usable with Eigen*/
00059 #   ifndef INTEL_MKL_VERSION
00060 #       undef EIGEN_USE_MKL /* INTEL_MKL_VERSION is not even defined on older versions */
00061 #   elif INTEL_MKL_VERSION < 100305    /* the intel-mkl-103-release-notes say this was when the lapacke.h interface was added*/
00062 #       undef EIGEN_USE_MKL
00063 #   endif
00064 #   ifndef EIGEN_USE_MKL
00065     /*If the MKL version is too old, undef everything*/
00066 #       undef   EIGEN_USE_MKL_ALL
00067 #       undef   EIGEN_USE_BLAS
00068 #       undef   EIGEN_USE_LAPACKE
00069 #       undef   EIGEN_USE_MKL_VML
00070 #       undef   EIGEN_USE_LAPACKE_STRICT
00071 #       undef   EIGEN_USE_LAPACKE
00072 #   endif
00073 #endif
00074 
00075 #if defined EIGEN_USE_MKL
00076 #include <mkl_lapacke.h>
00077 #define EIGEN_MKL_VML_THRESHOLD 128
00078 
00079 namespace Eigen {
00080 
00081 typedef std::complex<double> dcomplex;
00082 typedef std::complex<float>  scomplex;
00083 
00084 namespace internal {
00085 
00086 template<typename MKLType, typename EigenType>
00087 static inline void assign_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
00088   mklScalar=eigenScalar;
00089 }
00090 
00091 template<typename MKLType, typename EigenType>
00092 static inline void assign_conj_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
00093   mklScalar=eigenScalar;
00094 }
00095 
00096 template <>
00097 inline void assign_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
00098   mklScalar.real=eigenScalar.real();
00099   mklScalar.imag=eigenScalar.imag();
00100 }
00101 
00102 template <>
00103 inline void assign_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
00104   mklScalar.real=eigenScalar.real();
00105   mklScalar.imag=eigenScalar.imag();
00106 }
00107 
00108 template <>
00109 inline void assign_conj_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
00110   mklScalar.real=eigenScalar.real();
00111   mklScalar.imag=-eigenScalar.imag();
00112 }
00113 
00114 template <>
00115 inline void assign_conj_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
00116   mklScalar.real=eigenScalar.real();
00117   mklScalar.imag=-eigenScalar.imag();
00118 }
00119 
00120 } // end namespace internal
00121 
00122 } // end namespace Eigen
00123 
00124 #endif
00125 
00126 #endif // EIGEN_MKL_SUPPORT_H