diff options
Diffstat (limited to 'extern/ceres/internal/ceres/schur_eliminator.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/schur_eliminator.cc | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/schur_eliminator.cc b/extern/ceres/internal/ceres/schur_eliminator.cc new file mode 100644 index 00000000000..ec0e2a020e5 --- /dev/null +++ b/extern/ceres/internal/ceres/schur_eliminator.cc @@ -0,0 +1,163 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 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) +// +// Template specialization of SchurEliminator. +// +// ======================================== +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +// THIS FILE IS AUTOGENERATED. DO NOT EDIT. +//========================================= +// +// This file is generated using generate_eliminator_specialization.py. +// Editing it manually is not recommended. + +#include "ceres/linear_solver.h" +#include "ceres/schur_eliminator.h" +#include "ceres/internal/eigen.h" + +namespace ceres { +namespace internal { + +SchurEliminatorBase* +SchurEliminatorBase::Create(const LinearSolver::Options& options) { +#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 2)) { + return new SchurEliminator<2, 2, 2>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 3)) { + return new SchurEliminator<2, 2, 3>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == 4)) { + return new SchurEliminator<2, 2, 4>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 2) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<2, 2, Eigen::Dynamic>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 3)) { + return new SchurEliminator<2, 3, 3>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 4)) { + return new SchurEliminator<2, 3, 4>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 6)) { + return new SchurEliminator<2, 3, 6>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == 9)) { + return new SchurEliminator<2, 3, 9>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 3) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<2, 3, Eigen::Dynamic>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 3)) { + return new SchurEliminator<2, 4, 3>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 4)) { + return new SchurEliminator<2, 4, 4>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 8)) { + return new SchurEliminator<2, 4, 8>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == 9)) { + return new SchurEliminator<2, 4, 9>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == 4) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<2, 4, Eigen::Dynamic>(options); + } + if ((options.row_block_size == 2) && + (options.e_block_size == Eigen::Dynamic) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options); + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 2)) { + return new SchurEliminator<4, 4, 2>(options); + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 3)) { + return new SchurEliminator<4, 4, 3>(options); + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == 4)) { + return new SchurEliminator<4, 4, 4>(options); + } + if ((options.row_block_size == 4) && + (options.e_block_size == 4) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<4, 4, Eigen::Dynamic>(options); + } + if ((options.row_block_size == Eigen::Dynamic) && + (options.e_block_size == Eigen::Dynamic) && + (options.f_block_size == Eigen::Dynamic)) { + return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); + } + +#endif + VLOG(1) << "Template specializations not found for <" + << options.row_block_size << "," + << options.e_block_size << "," + << options.f_block_size << ">"; + return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); +} + +} // namespace internal +} // namespace ceres |