ceres-solver/internal/ceres/preconditioner.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/preconditioner.h"

#include "glog/logging.h"

namespace ceres::internal {

Preconditioner::~Preconditioner() = default;

PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
    PreconditionerType preconditioner_type) {
  if (preconditioner_type == SCHUR_JACOBI ||
      preconditioner_type == CLUSTER_JACOBI ||
      preconditioner_type == CLUSTER_TRIDIAGONAL) {
    return JACOBI;
  }
  return preconditioner_type;
}

SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
    const SparseMatrix* matrix, const Preconditioner::Options& options)
    : matrix_(matrix), options_(options) {
  CHECK(matrix != nullptr);
}

SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() =
    default;

bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& /*A*/,
                                                   const double* /*D*/) {
  return true;
}

void SparseMatrixPreconditionerWrapper::RightMultiplyAndAccumulate(
    const double* x, double* y) const {
  matrix_->RightMultiplyAndAccumulate(
      x, y, options_.context, options_.num_threads);
}

int SparseMatrixPreconditionerWrapper::num_rows() const {
  return matrix_->num_rows();
}

}  // namespace ceres::internal