// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/linear_solver.h"
#include "ceres/cgnr_solver.h"
#include "ceres/dense_normal_cholesky_solver.h"
#include "ceres/dense_qr_solver.h"
#include "ceres/iterative_schur_complement_solver.h"
#include "ceres/schur_complement_solver.h"
#include "ceres/sparse_normal_cholesky_solver.h"
#include "ceres/types.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
LinearSolver::~LinearSolver() {
}
LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
LinearSolverType linear_solver_type) {
if (!IsSchurType(linear_solver_type)) {
return linear_solver_type;
}
if (linear_solver_type == SPARSE_SCHUR) {
return SPARSE_NORMAL_CHOLESKY;
}
if (linear_solver_type == DENSE_SCHUR) {
// TODO(sameeragarwal): This is probably not a great choice.
// Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
// a BlockSparseMatrix as input.
return DENSE_QR;
}
if (linear_solver_type == ITERATIVE_SCHUR) {
return CGNR;
}
return linear_solver_type;
}
LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
switch (options.type) {
case CGNR:
return new CgnrSolver(options);
case SPARSE_NORMAL_CHOLESKY:
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
return NULL;
#else
return new SparseNormalCholeskySolver(options);
#endif
case SPARSE_SCHUR:
#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
return NULL;
#else
return new SparseSchurComplementSolver(options);
#endif
case DENSE_SCHUR:
return new DenseSchurComplementSolver(options);
case ITERATIVE_SCHUR:
return new IterativeSchurComplementSolver(options);
case DENSE_QR:
return new DenseQRSolver(options);
case DENSE_NORMAL_CHOLESKY:
return new DenseNormalCholeskySolver(options);
default:
LOG(FATAL) << "Unknown linear solver type :"
<< options.type;
return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
}
}
} // namespace internal
} // namespace ceres