1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are met:
7//
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.
16//
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
23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27// POSSIBILITY OF SUCH DAMAGE.
28//
29// Author: keir@google.com (Keir Mierle)
30
31#include <vector>
32#include "ceres/block_evaluate_preparer.h"
33#include "ceres/block_jacobian_writer.h"
34#include "ceres/compressed_row_jacobian_writer.h"
35#include "ceres/compressed_row_sparse_matrix.h"
36#include "ceres/crs_matrix.h"
37#include "ceres/dense_jacobian_writer.h"
38#include "ceres/dynamic_compressed_row_finalizer.h"
39#include "ceres/dynamic_compressed_row_jacobian_writer.h"
40#include "ceres/evaluator.h"
41#include "ceres/internal/port.h"
42#include "ceres/program_evaluator.h"
43#include "ceres/scratch_evaluate_preparer.h"
44#include "glog/logging.h"
45
46namespace ceres {
47namespace internal {
48
49Evaluator::~Evaluator() {}
50
51Evaluator* Evaluator::Create(const Evaluator::Options& options,
52                             Program* program,
53                             string* error) {
54  switch (options.linear_solver_type) {
55    case DENSE_QR:
56    case DENSE_NORMAL_CHOLESKY:
57      return new ProgramEvaluator<ScratchEvaluatePreparer,
58                                  DenseJacobianWriter>(options,
59                                                       program);
60    case DENSE_SCHUR:
61    case SPARSE_SCHUR:
62    case ITERATIVE_SCHUR:
63    case CGNR:
64      return new ProgramEvaluator<BlockEvaluatePreparer,
65                                  BlockJacobianWriter>(options,
66                                                       program);
67    case SPARSE_NORMAL_CHOLESKY:
68      if (options.dynamic_sparsity) {
69        return new ProgramEvaluator<ScratchEvaluatePreparer,
70                                    DynamicCompressedRowJacobianWriter,
71                                    DynamicCompressedRowJacobianFinalizer>(
72                                        options, program);
73      } else {
74        return new ProgramEvaluator<ScratchEvaluatePreparer,
75                                    CompressedRowJacobianWriter>(options,
76                                                                 program);
77      }
78
79    default:
80      *error = "Invalid Linear Solver Type. Unable to create evaluator.";
81      return NULL;
82  }
83}
84
85}  // namespace internal
86}  // namespace ceres
87