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@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
~LinearSolver()45 LinearSolver::~LinearSolver() {
46 }
47
Create(const LinearSolver::Options & options)48 LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
49 switch (options.type) {
50 case CGNR:
51 return new CgnrSolver(options);
52
53 case SPARSE_NORMAL_CHOLESKY:
54 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
55 LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
56 << "build Ceres with SuiteSparse or CXSparse. "
57 << "Returning NULL.";
58 return NULL;
59 #else
60 return new SparseNormalCholeskySolver(options);
61 #endif
62
63 case SPARSE_SCHUR:
64 #if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
65 LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
66 << "build Ceres with SuiteSparse or CXSparse. "
67 << "Returning NULL.";
68 return NULL;
69 #else
70 return new SparseSchurComplementSolver(options);
71 #endif
72
73 case DENSE_SCHUR:
74 return new DenseSchurComplementSolver(options);
75
76 case ITERATIVE_SCHUR:
77 return new IterativeSchurComplementSolver(options);
78
79 case DENSE_QR:
80 return new DenseQRSolver(options);
81
82 case DENSE_NORMAL_CHOLESKY:
83 return new DenseNormalCholeskySolver(options);
84
85 default:
86 LOG(FATAL) << "Unknown linear solver type :"
87 << options.type;
88 return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
89 }
90 }
91
92 } // namespace internal
93 } // namespace ceres
94