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@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
~Evaluator()47 Evaluator::~Evaluator() {}
48
Create(const Evaluator::Options & options,Program * program,string * error)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