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