1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2017 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 // A solver for sparse linear least squares problem based on solving
32 // the normal equations via a sparse cholesky factorization.
34 #ifndef CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
35 #define CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
37 // This include must come before any #ifndef check on Ceres compile options.
38 #include "ceres/internal/port.h"
40 #include "ceres/internal/macros.h"
41 #include "ceres/linear_solver.h"
46 class CompressedRowSparseMatrix;
48 // A variant of SparseNormalCholeskySolver in the case where matrix
49 // sparsity is not constant across calls to Solve. This means that
50 // there is no benefit to symbolically factorizing the matrix and
51 // caching this factorization.
52 class DynamicSparseNormalCholeskySolver
53 : public CompressedRowSparseMatrixSolver {
55 explicit DynamicSparseNormalCholeskySolver(
56 const LinearSolver::Options& options);
57 virtual ~DynamicSparseNormalCholeskySolver() {}
60 virtual LinearSolver::Summary SolveImpl(
61 CompressedRowSparseMatrix* A,
63 const LinearSolver::PerSolveOptions& options,
66 LinearSolver::Summary SolveImplUsingSuiteSparse(
67 CompressedRowSparseMatrix* A,
68 double* rhs_and_solution);
70 LinearSolver::Summary SolveImplUsingCXSparse(
71 CompressedRowSparseMatrix* A,
72 double* rhs_and_solution);
74 LinearSolver::Summary SolveImplUsingEigen(
75 CompressedRowSparseMatrix* A,
76 double* rhs_and_solution);
78 const LinearSolver::Options options_;
79 CERES_DISALLOW_COPY_AND_ASSIGN(DynamicSparseNormalCholeskySolver);
82 } // namespace internal
85 #endif // CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_