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/linear_solver.cc b/internal/ceres/linear_solver.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: 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