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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 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 #include "ceres/preconditioner.h"
     32 #include "glog/logging.h"
     33 
     34 namespace ceres {
     35 namespace internal {
     36 
     37 Preconditioner::~Preconditioner() {
     38 }
     39 
     40 PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
     41     PreconditionerType preconditioner_type) {
     42   if (preconditioner_type == SCHUR_JACOBI ||
     43       preconditioner_type == CLUSTER_JACOBI ||
     44       preconditioner_type == CLUSTER_TRIDIAGONAL) {
     45     return JACOBI;
     46   }
     47   return preconditioner_type;
     48 }
     49 
     50 SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
     51     const SparseMatrix* matrix)
     52     : matrix_(CHECK_NOTNULL(matrix)) {
     53 }
     54 
     55 SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {
     56 }
     57 
     58 bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
     59                                                    const double* D) {
     60   return true;
     61 }
     62 
     63 void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
     64                                                       double* y) const {
     65   matrix_->RightMultiply(x, y);
     66 }
     67 
     68 int  SparseMatrixPreconditionerWrapper::num_rows() const {
     69   return matrix_->num_rows();
     70 }
     71 
     72 }  // namespace internal
     73 }  // namespace ceres
     74