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

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 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
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// Author: keir@google.com (Keir Mierle)

#include <vector>
#include "ceres/block_evaluate_preparer.h"
#include "ceres/block_jacobian_writer.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/crs_matrix.h"
#include "ceres/dense_jacobian_writer.h"
#include "ceres/dynamic_compressed_row_finalizer.h"
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/evaluator.h"
#include "ceres/internal/port.h"
#include "ceres/program_evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
#include "glog/logging.h"

namespace ceres {
namespace internal {

Evaluator::~Evaluator() {}

Evaluator* Evaluator::Create(const Evaluator::Options& options,
                             Program* program,
                             string* error) {
  switch (options.linear_solver_type) {
    case DENSE_QR:
    case DENSE_NORMAL_CHOLESKY:
      return new ProgramEvaluator<ScratchEvaluatePreparer,
                                  DenseJacobianWriter>(options,
                                                       program);
    case DENSE_SCHUR:
    case SPARSE_SCHUR:
    case ITERATIVE_SCHUR:
    case CGNR:
      return new ProgramEvaluator<BlockEvaluatePreparer,
                                  BlockJacobianWriter>(options,
                                                       program);
    case SPARSE_NORMAL_CHOLESKY:
      if (options.dynamic_sparsity) {
        return new ProgramEvaluator<ScratchEvaluatePreparer,
                                    DynamicCompressedRowJacobianWriter,
                                    DynamicCompressedRowJacobianFinalizer>(
                                        options, program);
      } else {
        return new ProgramEvaluator<ScratchEvaluatePreparer,
                                    CompressedRowJacobianWriter>(options,
                                                                 program);
      }

    default:
      *error = "Invalid Linear Solver Type. Unable to create evaluator.";
      return NULL;
  }
}

}  // namespace internal
}  // namespace ceres