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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: 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 LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
     49     LinearSolverType linear_solver_type) {
     50   if (!IsSchurType(linear_solver_type)) {
     51     return linear_solver_type;
     52   }
     53 
     54   if (linear_solver_type == SPARSE_SCHUR) {
     55     return SPARSE_NORMAL_CHOLESKY;
     56   }
     57 
     58   if (linear_solver_type == DENSE_SCHUR) {
     59     // TODO(sameeragarwal): This is probably not a great choice.
     60     // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
     61     // a BlockSparseMatrix as input.
     62     return DENSE_QR;
     63   }
     64 
     65   if (linear_solver_type == ITERATIVE_SCHUR) {
     66     return CGNR;
     67   }
     68 
     69   return linear_solver_type;
     70 }
     71 
     72 LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
     73   switch (options.type) {
     74     case CGNR:
     75       return new CgnrSolver(options);
     76 
     77     case SPARSE_NORMAL_CHOLESKY:
     78 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
     79       return NULL;
     80 #else
     81       return new SparseNormalCholeskySolver(options);
     82 #endif
     83 
     84     case SPARSE_SCHUR:
     85 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
     86       return NULL;
     87 #else
     88       return new SparseSchurComplementSolver(options);
     89 #endif
     90 
     91     case DENSE_SCHUR:
     92       return new DenseSchurComplementSolver(options);
     93 
     94     case ITERATIVE_SCHUR:
     95       return new IterativeSchurComplementSolver(options);
     96 
     97     case DENSE_QR:
     98       return new DenseQRSolver(options);
     99 
    100     case DENSE_NORMAL_CHOLESKY:
    101       return new DenseNormalCholeskySolver(options);
    102 
    103     default:
    104       LOG(FATAL) << "Unknown linear solver type :"
    105                  << options.type;
    106       return NULL;  // MSVC doesn't understand that LOG(FATAL) never returns.
    107   }
    108 }
    109 
    110 }  // namespace internal
    111 }  // namespace ceres
    112