1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2013 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/preconditioner.h" 32#include "glog/logging.h" 33 34namespace ceres { 35namespace internal { 36 37Preconditioner::~Preconditioner() { 38} 39 40PreconditionerType Preconditioner::PreconditionerForZeroEBlocks( 41 PreconditionerType preconditioner_type) { 42 if (preconditioner_type == SCHUR_JACOBI || 43 preconditioner_type == CLUSTER_JACOBI || 44 preconditioner_type == CLUSTER_TRIDIAGONAL) { 45 return JACOBI; 46 } 47 return preconditioner_type; 48} 49 50SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper( 51 const SparseMatrix* matrix) 52 : matrix_(CHECK_NOTNULL(matrix)) { 53} 54 55SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() { 56} 57 58bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A, 59 const double* D) { 60 return true; 61} 62 63void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x, 64 double* y) const { 65 matrix_->RightMultiply(x, y); 66} 67 68int SparseMatrixPreconditionerWrapper::num_rows() const { 69 return matrix_->num_rows(); 70} 71 72} // namespace internal 73} // namespace ceres 74