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/preconditioner.cc b/internal/ceres/preconditioner.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/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