1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
|
// 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/preconditioner.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
Preconditioner::~Preconditioner() {}
PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
PreconditionerType preconditioner_type) {
if (preconditioner_type == SCHUR_JACOBI ||
preconditioner_type == CLUSTER_JACOBI ||
preconditioner_type == CLUSTER_TRIDIAGONAL) {
return JACOBI;
}
return preconditioner_type;
}
SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
const SparseMatrix* matrix)
: matrix_(matrix) {
CHECK(matrix != nullptr);
}
SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {}
bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
const double* D) {
return true;
}
void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
double* y) const {
matrix_->RightMultiply(x, y);
}
int SparseMatrixPreconditionerWrapper::num_rows() const {
return matrix_->num_rows();
}
} // namespace internal
} // namespace ceres
|
