1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 31 #include "ceres/linear_solver.h" 32 33 #include "ceres/cgnr_solver.h" 34 #include "ceres/dense_normal_cholesky_solver.h" 35 #include "ceres/dense_qr_solver.h" 36 #include "ceres/iterative_schur_complement_solver.h" 37 #include "ceres/schur_complement_solver.h" 38 #include "ceres/sparse_normal_cholesky_solver.h" 39 #include "ceres/types.h" 40 #include "glog/logging.h" 41 42 namespace ceres { 43 namespace internal { 44 45 LinearSolver::~LinearSolver() { 46 } 47 48 LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) { 49 switch (options.type) { 50 case CGNR: 51 return new CgnrSolver(options); 52 53 case SPARSE_NORMAL_CHOLESKY: 54 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE) 55 LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please " 56 << "build Ceres with SuiteSparse or CXSparse. " 57 << "Returning NULL."; 58 return NULL; 59 #else 60 return new SparseNormalCholeskySolver(options); 61 #endif 62 63 case SPARSE_SCHUR: 64 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE) 65 LOG(WARNING) << "SPARSE_SCHUR is not available. Please " 66 << "build Ceres with SuiteSparse or CXSparse. " 67 << "Returning NULL."; 68 return NULL; 69 #else 70 return new SparseSchurComplementSolver(options); 71 #endif 72 73 case DENSE_SCHUR: 74 return new DenseSchurComplementSolver(options); 75 76 case ITERATIVE_SCHUR: 77 return new IterativeSchurComplementSolver(options); 78 79 case DENSE_QR: 80 return new DenseQRSolver(options); 81 82 case DENSE_NORMAL_CHOLESKY: 83 return new DenseNormalCholeskySolver(options); 84 85 default: 86 LOG(FATAL) << "Unknown linear solver type :" 87 << options.type; 88 return NULL; // MSVC doesn't understand that LOG(FATAL) never returns. 89 } 90 } 91 92 } // namespace internal 93 } // namespace ceres 94
