ceres-solver/internal/ceres/evaluator.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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//   this list of conditions and the following disclaimer.
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// Author: keir@google.com (Keir Mierle)

#include "ceres/evaluator.h"

#include <vector>

#include "ceres/block_evaluate_preparer.h"
#include "ceres/block_jacobian_writer.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/crs_matrix.h"
#include "ceres/dense_jacobian_writer.h"
#include "ceres/dynamic_compressed_row_finalizer.h"
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/internal/port.h"
#include "ceres/program_evaluator.h"
#include "ceres/scratch_evaluate_preparer.h"
#include "glog/logging.h"

namespace ceres {
namespace internal {

Evaluator::~Evaluator() {}

Evaluator* Evaluator::Create(const Evaluator::Options& options,
                             Program* program,
                             std::string* error) {
  CHECK(options.context != NULL);

  switch (options.linear_solver_type) {
    case DENSE_QR:
    case DENSE_NORMAL_CHOLESKY:
      return new ProgramEvaluator<ScratchEvaluatePreparer, DenseJacobianWriter>(
          options, program);
    case DENSE_SCHUR:
    case SPARSE_SCHUR:
    case ITERATIVE_SCHUR:
    case CGNR:
      return new ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>(
          options, program);
    case SPARSE_NORMAL_CHOLESKY:
      if (options.dynamic_sparsity) {
        return new ProgramEvaluator<ScratchEvaluatePreparer,
                                    DynamicCompressedRowJacobianWriter,
                                    DynamicCompressedRowJacobianFinalizer>(
            options, program);
      } else {
        return new ProgramEvaluator<BlockEvaluatePreparer, BlockJacobianWriter>(
            options, program);
      }

    default:
      *error = "Invalid Linear Solver Type. Unable to create evaluator.";
      return NULL;
  }
}

}  // namespace internal
}  // namespace ceres