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/dynamic_compressed_row_finalizer.h"
39 #include "ceres/dynamic_compressed_row_jacobian_writer.h"
40 #include "ceres/evaluator.h"
41 #include "ceres/internal/port.h"
42 #include "ceres/program_evaluator.h"
43 #include "ceres/scratch_evaluate_preparer.h"
44 #include "glog/logging.h"
45
46 namespace ceres {
47 namespace internal {
48
~Evaluator()49 Evaluator::~Evaluator() {}
50
Create(const Evaluator::Options & options,Program * program,string * error)51 Evaluator* Evaluator::Create(const Evaluator::Options& options,
52 Program* program,
53 string* error) {
54 switch (options.linear_solver_type) {
55 case DENSE_QR:
56 case DENSE_NORMAL_CHOLESKY:
57 return new ProgramEvaluator<ScratchEvaluatePreparer,
58 DenseJacobianWriter>(options,
59 program);
60 case DENSE_SCHUR:
61 case SPARSE_SCHUR:
62 case ITERATIVE_SCHUR:
63 case CGNR:
64 return new ProgramEvaluator<BlockEvaluatePreparer,
65 BlockJacobianWriter>(options,
66 program);
67 case SPARSE_NORMAL_CHOLESKY:
68 if (options.dynamic_sparsity) {
69 return new ProgramEvaluator<ScratchEvaluatePreparer,
70 DynamicCompressedRowJacobianWriter,
71 DynamicCompressedRowJacobianFinalizer>(
72 options, program);
73 } else {
74 return new ProgramEvaluator<ScratchEvaluatePreparer,
75 CompressedRowJacobianWriter>(options,
76 program);
77 }
78
79 default:
80 *error = "Invalid Linear Solver Type. Unable to create evaluator.";
81 return NULL;
82 }
83 }
84
85 } // namespace internal
86 } // namespace ceres
87