1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2010, 2011, 2012, 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// Template specialization of SchurEliminator. 32// 33// ======================================== 34// THIS FILE IS AUTOGENERATED. DO NOT EDIT. 35// THIS FILE IS AUTOGENERATED. DO NOT EDIT. 36// THIS FILE IS AUTOGENERATED. DO NOT EDIT. 37// THIS FILE IS AUTOGENERATED. DO NOT EDIT. 38//========================================= 39// 40// This file is generated using generate_eliminator_specialization.py. 41// Editing it manually is not recommended. 42 43#include "ceres/linear_solver.h" 44#include "ceres/schur_eliminator.h" 45#include "ceres/internal/eigen.h" 46 47namespace ceres { 48namespace internal { 49 50SchurEliminatorBase* 51SchurEliminatorBase::Create(const LinearSolver::Options& options) { 52#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 53 if ((options.row_block_size == 2) && 54 (options.e_block_size == 2) && 55 (options.f_block_size == 2)) { 56 return new SchurEliminator<2, 2, 2>(options); 57 } 58 if ((options.row_block_size == 2) && 59 (options.e_block_size == 2) && 60 (options.f_block_size == 3)) { 61 return new SchurEliminator<2, 2, 3>(options); 62 } 63 if ((options.row_block_size == 2) && 64 (options.e_block_size == 2) && 65 (options.f_block_size == 4)) { 66 return new SchurEliminator<2, 2, 4>(options); 67 } 68 if ((options.row_block_size == 2) && 69 (options.e_block_size == 2) && 70 (options.f_block_size == Eigen::Dynamic)) { 71 return new SchurEliminator<2, 2, Eigen::Dynamic>(options); 72 } 73 if ((options.row_block_size == 2) && 74 (options.e_block_size == 3) && 75 (options.f_block_size == 3)) { 76 return new SchurEliminator<2, 3, 3>(options); 77 } 78 if ((options.row_block_size == 2) && 79 (options.e_block_size == 3) && 80 (options.f_block_size == 4)) { 81 return new SchurEliminator<2, 3, 4>(options); 82 } 83 if ((options.row_block_size == 2) && 84 (options.e_block_size == 3) && 85 (options.f_block_size == 9)) { 86 return new SchurEliminator<2, 3, 9>(options); 87 } 88 if ((options.row_block_size == 2) && 89 (options.e_block_size == 3) && 90 (options.f_block_size == Eigen::Dynamic)) { 91 return new SchurEliminator<2, 3, Eigen::Dynamic>(options); 92 } 93 if ((options.row_block_size == 2) && 94 (options.e_block_size == 4) && 95 (options.f_block_size == 3)) { 96 return new SchurEliminator<2, 4, 3>(options); 97 } 98 if ((options.row_block_size == 2) && 99 (options.e_block_size == 4) && 100 (options.f_block_size == 4)) { 101 return new SchurEliminator<2, 4, 4>(options); 102 } 103 if ((options.row_block_size == 2) && 104 (options.e_block_size == 4) && 105 (options.f_block_size == 8)) { 106 return new SchurEliminator<2, 4, 8>(options); 107 } 108 if ((options.row_block_size == 2) && 109 (options.e_block_size == 4) && 110 (options.f_block_size == 9)) { 111 return new SchurEliminator<2, 4, 9>(options); 112 } 113 if ((options.row_block_size == 2) && 114 (options.e_block_size == 4) && 115 (options.f_block_size == Eigen::Dynamic)) { 116 return new SchurEliminator<2, 4, Eigen::Dynamic>(options); 117 } 118 if ((options.row_block_size == 2) && 119 (options.e_block_size == Eigen::Dynamic) && 120 (options.f_block_size == Eigen::Dynamic)) { 121 return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options); 122 } 123 if ((options.row_block_size == 4) && 124 (options.e_block_size == 4) && 125 (options.f_block_size == 2)) { 126 return new SchurEliminator<4, 4, 2>(options); 127 } 128 if ((options.row_block_size == 4) && 129 (options.e_block_size == 4) && 130 (options.f_block_size == 3)) { 131 return new SchurEliminator<4, 4, 3>(options); 132 } 133 if ((options.row_block_size == 4) && 134 (options.e_block_size == 4) && 135 (options.f_block_size == 4)) { 136 return new SchurEliminator<4, 4, 4>(options); 137 } 138 if ((options.row_block_size == 4) && 139 (options.e_block_size == 4) && 140 (options.f_block_size == Eigen::Dynamic)) { 141 return new SchurEliminator<4, 4, Eigen::Dynamic>(options); 142 } 143 if ((options.row_block_size == Eigen::Dynamic) && 144 (options.e_block_size == Eigen::Dynamic) && 145 (options.f_block_size == Eigen::Dynamic)) { 146 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 147 } 148 149#endif 150 VLOG(1) << "Template specializations not found for <" 151 << options.row_block_size << "," 152 << options.e_block_size << "," 153 << options.f_block_size << ">"; 154 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 155} 156 157} // namespace internal 158} // namespace ceres 159