Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/evaluator.cc b/internal/ceres/evaluator.cc
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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: keir@google.com (Keir Mierle)
+
+#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/evaluator.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