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: keir@google.com (Keir Mierle) 30 31#include <vector> 32#include "ceres/block_evaluate_preparer.h" 33#include "ceres/block_jacobian_writer.h" 34#include "ceres/compressed_row_jacobian_writer.h" 35#include "ceres/compressed_row_sparse_matrix.h" 36#include "ceres/crs_matrix.h" 37#include "ceres/dense_jacobian_writer.h" 38#include "ceres/dynamic_compressed_row_finalizer.h" 39#include "ceres/dynamic_compressed_row_jacobian_writer.h" 40#include "ceres/evaluator.h" 41#include "ceres/internal/port.h" 42#include "ceres/program_evaluator.h" 43#include "ceres/scratch_evaluate_preparer.h" 44#include "glog/logging.h" 45 46namespace ceres { 47namespace internal { 48 49Evaluator::~Evaluator() {} 50 51Evaluator* Evaluator::Create(const Evaluator::Options& options, 52 Program* program, 53 string* error) { 54 switch (options.linear_solver_type) { 55 case DENSE_QR: 56 case DENSE_NORMAL_CHOLESKY: 57 return new ProgramEvaluator<ScratchEvaluatePreparer, 58 DenseJacobianWriter>(options, 59 program); 60 case DENSE_SCHUR: 61 case SPARSE_SCHUR: 62 case ITERATIVE_SCHUR: 63 case CGNR: 64 return new ProgramEvaluator<BlockEvaluatePreparer, 65 BlockJacobianWriter>(options, 66 program); 67 case SPARSE_NORMAL_CHOLESKY: 68 if (options.dynamic_sparsity) { 69 return new ProgramEvaluator<ScratchEvaluatePreparer, 70 DynamicCompressedRowJacobianWriter, 71 DynamicCompressedRowJacobianFinalizer>( 72 options, program); 73 } else { 74 return new ProgramEvaluator<ScratchEvaluatePreparer, 75 CompressedRowJacobianWriter>(options, 76 program); 77 } 78 79 default: 80 *error = "Invalid Linear Solver Type. Unable to create evaluator."; 81 return NULL; 82 } 83} 84 85} // namespace internal 86} // namespace ceres 87