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      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: keir (at) google.com (Keir Mierle)
     30 
     31 #include <vector>
     32 #include "ceres/block_evaluate_preparer.h"
     33 #include "ceres/block_jacobian_writer.h"
     34 #include "ceres/compressed_row_jacobian_writer.h"
     35 #include "ceres/compressed_row_sparse_matrix.h"
     36 #include "ceres/crs_matrix.h"
     37 #include "ceres/dense_jacobian_writer.h"
     38 #include "ceres/evaluator.h"
     39 #include "ceres/internal/port.h"
     40 #include "ceres/program_evaluator.h"
     41 #include "ceres/scratch_evaluate_preparer.h"
     42 #include "glog/logging.h"
     43 
     44 namespace ceres {
     45 namespace internal {
     46 
     47 Evaluator::~Evaluator() {}
     48 
     49 Evaluator* Evaluator::Create(const Evaluator::Options& options,
     50                              Program* program,
     51                              string* error) {
     52   switch (options.linear_solver_type) {
     53     case DENSE_QR:
     54     case DENSE_NORMAL_CHOLESKY:
     55       return new ProgramEvaluator<ScratchEvaluatePreparer,
     56                                   DenseJacobianWriter>(options,
     57                                                        program);
     58     case DENSE_SCHUR:
     59     case SPARSE_SCHUR:
     60     case ITERATIVE_SCHUR:
     61     case CGNR:
     62       return new ProgramEvaluator<BlockEvaluatePreparer,
     63                                   BlockJacobianWriter>(options,
     64                                                        program);
     65     case SPARSE_NORMAL_CHOLESKY:
     66       return new ProgramEvaluator<ScratchEvaluatePreparer,
     67                                   CompressedRowJacobianWriter>(options,
     68                                                                program);
     69     default:
     70       *error = "Invalid Linear Solver Type. Unable to create evaluator.";
     71       return NULL;
     72   }
     73 }
     74 
     75 }  // namespace internal
     76 }  // namespace ceres
     77