| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122 | // 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/iterative_schur_complement_solver.h"#include "ceres/schur_complement_solver.h"#include "ceres/dynamic_sparse_normal_cholesky_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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