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/dynamic_compressed_row_finalizer.h" 39 #include "ceres/dynamic_compressed_row_jacobian_writer.h" 40 #include "ceres/evaluator.h" 41 #include "ceres/internal/port.h" 42 #include "ceres/program_evaluator.h" 43 #include "ceres/scratch_evaluate_preparer.h" 44 #include "glog/logging.h" 45 46 namespace ceres { 47 namespace internal { 48 49 Evaluator::~Evaluator() {} 50 51 Evaluator* Evaluator::Create(const Evaluator::Options& options, 52 Program* program, 53 string* error) { 54 switch (options.linear_solver_type) { 55 case DENSE_QR: 56 case DENSE_NORMAL_CHOLESKY: 57 return new ProgramEvaluator<ScratchEvaluatePreparer, 58 DenseJacobianWriter>(options, 59 program); 60 case DENSE_SCHUR: 61 case SPARSE_SCHUR: 62 case ITERATIVE_SCHUR: 63 case CGNR: 64 return new ProgramEvaluator<BlockEvaluatePreparer, 65 BlockJacobianWriter>(options, 66 program); 67 case SPARSE_NORMAL_CHOLESKY: 68 if (options.dynamic_sparsity) { 69 return new ProgramEvaluator<ScratchEvaluatePreparer, 70 DynamicCompressedRowJacobianWriter, 71 DynamicCompressedRowJacobianFinalizer>( 72 options, program); 73 } else { 74 return new ProgramEvaluator<ScratchEvaluatePreparer, 75 CompressedRowJacobianWriter>(options, 76 program); 77 } 78 79 default: 80 *error = "Invalid Linear Solver Type. Unable to create evaluator."; 81 return NULL; 82 } 83 } 84 85 } // namespace internal 86 } // namespace ceres 87
