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: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/linear_solver.h"
32
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/sparse_normal_cholesky_solver.h"
39#include "ceres/types.h"
40#include "glog/logging.h"
41
42namespace ceres {
43namespace internal {
44
45LinearSolver::~LinearSolver() {
46}
47
48LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
49    LinearSolverType linear_solver_type) {
50  if (!IsSchurType(linear_solver_type)) {
51    return linear_solver_type;
52  }
53
54  if (linear_solver_type == SPARSE_SCHUR) {
55    return SPARSE_NORMAL_CHOLESKY;
56  }
57
58  if (linear_solver_type == DENSE_SCHUR) {
59    // TODO(sameeragarwal): This is probably not a great choice.
60    // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
61    // a BlockSparseMatrix as input.
62    return DENSE_QR;
63  }
64
65  if (linear_solver_type == ITERATIVE_SCHUR) {
66    return CGNR;
67  }
68
69  return linear_solver_type;
70}
71
72LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
73  switch (options.type) {
74    case CGNR:
75      return new CgnrSolver(options);
76
77    case SPARSE_NORMAL_CHOLESKY:
78#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
79      return NULL;
80#else
81      return new SparseNormalCholeskySolver(options);
82#endif
83
84    case SPARSE_SCHUR:
85#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
86      return NULL;
87#else
88      return new SparseSchurComplementSolver(options);
89#endif
90
91    case DENSE_SCHUR:
92      return new DenseSchurComplementSolver(options);
93
94    case ITERATIVE_SCHUR:
95      return new IterativeSchurComplementSolver(options);
96
97    case DENSE_QR:
98      return new DenseQRSolver(options);
99
100    case DENSE_NORMAL_CHOLESKY:
101      return new DenseNormalCholeskySolver(options);
102
103    default:
104      LOG(FATAL) << "Unknown linear solver type :"
105                 << options.type;
106      return NULL;  // MSVC doesn't understand that LOG(FATAL) never returns.
107  }
108}
109
110}  // namespace internal
111}  // namespace ceres
112