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// 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)
#include "ceres/linear_solver.h"
#include "ceres/cgnr_solver.h"
#include "ceres/dense_normal_cholesky_solver.h"
#include "ceres/dense_qr_solver.h"
#include "ceres/dynamic_sparse_normal_cholesky_solver.h"
#include "ceres/iterative_schur_complement_solver.h"
#include "ceres/schur_complement_solver.h"
#include "ceres/sparse_normal_cholesky_solver.h"
#include "ceres/types.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
LinearSolver::~LinearSolver() {}
LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
LinearSolverType linear_solver_type) {
if (!IsSchurType(linear_solver_type)) {
return linear_solver_type;
}
if (linear_solver_type == SPARSE_SCHUR) {
return SPARSE_NORMAL_CHOLESKY;
}
if (linear_solver_type == DENSE_SCHUR) {
// TODO(sameeragarwal): This is probably not a great choice.
// Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
// a BlockSparseMatrix as input.
return DENSE_QR;
}
if (linear_solver_type == ITERATIVE_SCHUR) {
return CGNR;
}
return linear_solver_type;
}
LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
CHECK(options.context != NULL);
switch (options.type) {
case CGNR:
return new CgnrSolver(options);
case SPARSE_NORMAL_CHOLESKY:
#if defined(CERES_NO_SPARSE)
return NULL;
#else
if (options.dynamic_sparsity) {
return new DynamicSparseNormalCholeskySolver(options);
}
return new SparseNormalCholeskySolver(options);
#endif
case SPARSE_SCHUR:
#if defined(CERES_NO_SPARSE)
return NULL;
#else
return new SparseSchurComplementSolver(options);
#endif
case DENSE_SCHUR:
return new DenseSchurComplementSolver(options);
case ITERATIVE_SCHUR:
if (options.use_explicit_schur_complement) {
return new SparseSchurComplementSolver(options);
} else {
return new IterativeSchurComplementSolver(options);
}
case DENSE_QR:
return new DenseQRSolver(options);
case DENSE_NORMAL_CHOLESKY:
return new DenseNormalCholeskySolver(options);
default:
LOG(FATAL) << "Unknown linear solver type :" << options.type;
return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
}
}
} // namespace internal
} // namespace ceres
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