1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #include "ceres/linear_solver.h"
33 #include "ceres/cgnr_solver.h"
34 #include "ceres/dense_normal_cholesky_solver.h"
35 #include "ceres/dense_qr_solver.h"
36 #include "ceres/iterative_schur_complement_solver.h"
37 #include "ceres/schur_complement_solver.h"
38 #include "ceres/dynamic_sparse_normal_cholesky_solver.h"
39 #include "ceres/sparse_normal_cholesky_solver.h"
40 #include "ceres/types.h"
41 #include "glog/logging.h"
46 LinearSolver::~LinearSolver() {
49 LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
50 LinearSolverType linear_solver_type) {
51 if (!IsSchurType(linear_solver_type)) {
52 return linear_solver_type;
55 if (linear_solver_type == SPARSE_SCHUR) {
56 return SPARSE_NORMAL_CHOLESKY;
59 if (linear_solver_type == DENSE_SCHUR) {
60 // TODO(sameeragarwal): This is probably not a great choice.
61 // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
62 // a BlockSparseMatrix as input.
66 if (linear_solver_type == ITERATIVE_SCHUR) {
70 return linear_solver_type;
73 LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
74 switch (options.type) {
76 return new CgnrSolver(options);
78 case SPARSE_NORMAL_CHOLESKY:
79 #if defined(CERES_NO_SUITESPARSE) && \
80 defined(CERES_NO_CXSPARSE) && \
81 !defined(CERES_USE_EIGEN_SPARSE)
84 if (options.dynamic_sparsity) {
85 return new DynamicSparseNormalCholeskySolver(options);
88 return new SparseNormalCholeskySolver(options);
92 #if defined(CERES_NO_SUITESPARSE) && \
93 defined(CERES_NO_CXSPARSE) && \
94 !defined(CERES_USE_EIGEN_SPARSE)
97 return new SparseSchurComplementSolver(options);
101 return new DenseSchurComplementSolver(options);
103 case ITERATIVE_SCHUR:
104 if (options.use_explicit_schur_complement) {
105 return new SparseSchurComplementSolver(options);
107 return new IterativeSchurComplementSolver(options);
111 return new DenseQRSolver(options);
113 case DENSE_NORMAL_CHOLESKY:
114 return new DenseNormalCholeskySolver(options);
117 LOG(FATAL) << "Unknown linear solver type :"
119 return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
123 } // namespace internal