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Diffstat (limited to 'extern/ceres/internal/ceres/eigensparse.h')
-rw-r--r-- | extern/ceres/internal/ceres/eigensparse.h | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/eigensparse.h b/extern/ceres/internal/ceres/eigensparse.h new file mode 100644 index 00000000000..2e6c6f01abb --- /dev/null +++ b/extern/ceres/internal/ceres/eigensparse.h @@ -0,0 +1,90 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2017 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// 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) +// +// A simple C++ interface to the Eigen's Sparse Cholesky routines. + +#ifndef CERES_INTERNAL_EIGENSPARSE_H_ +#define CERES_INTERNAL_EIGENSPARSE_H_ + +// This include must come before any #ifndef check on Ceres compile options. +#include "ceres/internal/port.h" + +#ifdef CERES_USE_EIGEN_SPARSE + +#include <memory> +#include <string> + +#include "Eigen/SparseCore" +#include "ceres/linear_solver.h" +#include "ceres/sparse_cholesky.h" + +namespace ceres { +namespace internal { + +class EigenSparseCholesky : public SparseCholesky { + public: + // Factory + static std::unique_ptr<SparseCholesky> Create( + const OrderingType ordering_type); + + // SparseCholesky interface. + virtual ~EigenSparseCholesky(); + virtual LinearSolverTerminationType Factorize( + CompressedRowSparseMatrix* lhs, std::string* message) = 0; + virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0; + virtual LinearSolverTerminationType Solve(const double* rhs, + double* solution, + std::string* message) = 0; +}; + +// Even though the input is double precision linear system, this class +// solves it by computing a single precision Cholesky factorization. +class FloatEigenSparseCholesky : public SparseCholesky { + public: + // Factory + static std::unique_ptr<SparseCholesky> Create( + const OrderingType ordering_type); + + // SparseCholesky interface. + virtual ~FloatEigenSparseCholesky(); + virtual LinearSolverTerminationType Factorize( + CompressedRowSparseMatrix* lhs, std::string* message) = 0; + virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0; + virtual LinearSolverTerminationType Solve(const double* rhs, + double* solution, + std::string* message) = 0; +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_USE_EIGEN_SPARSE + +#endif // CERES_INTERNAL_EIGENSPARSE_H_ |