xref: /external/ceres-solver/internal/ceres/preconditioner.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/preconditioner.h"
#include "glog/logging.h"

namespace ceres {
namespace internal {

Preconditioner::~Preconditioner() {
}

PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
    PreconditionerType preconditioner_type) {
  if (preconditioner_type == SCHUR_JACOBI ||
      preconditioner_type == CLUSTER_JACOBI ||
      preconditioner_type == CLUSTER_TRIDIAGONAL) {
    return JACOBI;
  }
  return preconditioner_type;
}

SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
    const SparseMatrix* matrix)
    : matrix_(CHECK_NOTNULL(matrix)) {
}

SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {
}

bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
                                                   const double* D) {
  return true;
}

void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
                                                      double* y) const {
  matrix_->RightMultiply(x, y);
}

int  SparseMatrixPreconditionerWrapper::num_rows() const {
  return matrix_->num_rows();
}

}  // namespace internal
}  // namespace ceres