1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012, 2013 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 // Template specialization of SchurEliminator. 32 // 33 // ======================================== 34 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 35 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 36 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 37 // THIS FILE IS AUTOGENERATED. DO NOT EDIT. 38 //========================================= 39 // 40 // This file is generated using generate_eliminator_specialization.py. 41 // Editing it manually is not recommended. 42 43 #include "ceres/linear_solver.h" 44 #include "ceres/schur_eliminator.h" 45 #include "ceres/internal/eigen.h" 46 47 namespace ceres { 48 namespace internal { 49 50 SchurEliminatorBase* 51 SchurEliminatorBase::Create(const LinearSolver::Options& options) { 52 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION 53 if ((options.row_block_size == 2) && 54 (options.e_block_size == 2) && 55 (options.f_block_size == 2)) { 56 return new SchurEliminator<2, 2, 2>(options); 57 } 58 if ((options.row_block_size == 2) && 59 (options.e_block_size == 2) && 60 (options.f_block_size == 3)) { 61 return new SchurEliminator<2, 2, 3>(options); 62 } 63 if ((options.row_block_size == 2) && 64 (options.e_block_size == 2) && 65 (options.f_block_size == 4)) { 66 return new SchurEliminator<2, 2, 4>(options); 67 } 68 if ((options.row_block_size == 2) && 69 (options.e_block_size == 2) && 70 (options.f_block_size == Eigen::Dynamic)) { 71 return new SchurEliminator<2, 2, Eigen::Dynamic>(options); 72 } 73 if ((options.row_block_size == 2) && 74 (options.e_block_size == 3) && 75 (options.f_block_size == 3)) { 76 return new SchurEliminator<2, 3, 3>(options); 77 } 78 if ((options.row_block_size == 2) && 79 (options.e_block_size == 3) && 80 (options.f_block_size == 4)) { 81 return new SchurEliminator<2, 3, 4>(options); 82 } 83 if ((options.row_block_size == 2) && 84 (options.e_block_size == 3) && 85 (options.f_block_size == 9)) { 86 return new SchurEliminator<2, 3, 9>(options); 87 } 88 if ((options.row_block_size == 2) && 89 (options.e_block_size == 3) && 90 (options.f_block_size == Eigen::Dynamic)) { 91 return new SchurEliminator<2, 3, Eigen::Dynamic>(options); 92 } 93 if ((options.row_block_size == 2) && 94 (options.e_block_size == 4) && 95 (options.f_block_size == 3)) { 96 return new SchurEliminator<2, 4, 3>(options); 97 } 98 if ((options.row_block_size == 2) && 99 (options.e_block_size == 4) && 100 (options.f_block_size == 4)) { 101 return new SchurEliminator<2, 4, 4>(options); 102 } 103 if ((options.row_block_size == 2) && 104 (options.e_block_size == 4) && 105 (options.f_block_size == 8)) { 106 return new SchurEliminator<2, 4, 8>(options); 107 } 108 if ((options.row_block_size == 2) && 109 (options.e_block_size == 4) && 110 (options.f_block_size == 9)) { 111 return new SchurEliminator<2, 4, 9>(options); 112 } 113 if ((options.row_block_size == 2) && 114 (options.e_block_size == 4) && 115 (options.f_block_size == Eigen::Dynamic)) { 116 return new SchurEliminator<2, 4, Eigen::Dynamic>(options); 117 } 118 if ((options.row_block_size == 2) && 119 (options.e_block_size == Eigen::Dynamic) && 120 (options.f_block_size == Eigen::Dynamic)) { 121 return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options); 122 } 123 if ((options.row_block_size == 4) && 124 (options.e_block_size == 4) && 125 (options.f_block_size == 2)) { 126 return new SchurEliminator<4, 4, 2>(options); 127 } 128 if ((options.row_block_size == 4) && 129 (options.e_block_size == 4) && 130 (options.f_block_size == 3)) { 131 return new SchurEliminator<4, 4, 3>(options); 132 } 133 if ((options.row_block_size == 4) && 134 (options.e_block_size == 4) && 135 (options.f_block_size == 4)) { 136 return new SchurEliminator<4, 4, 4>(options); 137 } 138 if ((options.row_block_size == 4) && 139 (options.e_block_size == 4) && 140 (options.f_block_size == Eigen::Dynamic)) { 141 return new SchurEliminator<4, 4, Eigen::Dynamic>(options); 142 } 143 if ((options.row_block_size == Eigen::Dynamic) && 144 (options.e_block_size == Eigen::Dynamic) && 145 (options.f_block_size == Eigen::Dynamic)) { 146 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 147 } 148 149 #endif 150 VLOG(1) << "Template specializations not found for <" 151 << options.row_block_size << "," 152 << options.e_block_size << "," 153 << options.f_block_size << ">"; 154 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options); 155 } 156 157 } // namespace internal 158 } // namespace ceres 159
