mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/linear_solver.h"
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#include "ceres/cgnr_solver.h"
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#include "ceres/dense_normal_cholesky_solver.h"
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#include "ceres/dense_qr_solver.h"
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#include "ceres/dynamic_sparse_normal_cholesky_solver.h"
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#include "ceres/iterative_schur_complement_solver.h"
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#include "ceres/schur_complement_solver.h"
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#include "ceres/sparse_normal_cholesky_solver.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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namespace ceres {
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namespace internal {
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LinearSolver::~LinearSolver() {}
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LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
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LinearSolverType linear_solver_type) {
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if (!IsSchurType(linear_solver_type)) {
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return linear_solver_type;
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}
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if (linear_solver_type == SPARSE_SCHUR) {
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return SPARSE_NORMAL_CHOLESKY;
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}
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if (linear_solver_type == DENSE_SCHUR) {
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// TODO(sameeragarwal): This is probably not a great choice.
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// Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
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// a BlockSparseMatrix as input.
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return DENSE_QR;
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}
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if (linear_solver_type == ITERATIVE_SCHUR) {
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return CGNR;
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}
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return linear_solver_type;
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}
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LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
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CHECK(options.context != NULL);
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switch (options.type) {
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case CGNR:
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return new CgnrSolver(options);
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case SPARSE_NORMAL_CHOLESKY:
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#if defined(CERES_NO_SPARSE)
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return NULL;
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#else
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if (options.dynamic_sparsity) {
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return new DynamicSparseNormalCholeskySolver(options);
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}
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return new SparseNormalCholeskySolver(options);
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#endif
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case SPARSE_SCHUR:
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#if defined(CERES_NO_SPARSE)
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return NULL;
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#else
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return new SparseSchurComplementSolver(options);
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#endif
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case DENSE_SCHUR:
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return new DenseSchurComplementSolver(options);
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case ITERATIVE_SCHUR:
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if (options.use_explicit_schur_complement) {
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return new SparseSchurComplementSolver(options);
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} else {
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return new IterativeSchurComplementSolver(options);
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}
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case DENSE_QR:
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return new DenseQRSolver(options);
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case DENSE_NORMAL_CHOLESKY:
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return new DenseNormalCholeskySolver(options);
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default:
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LOG(FATAL) << "Unknown linear solver type :" << options.type;
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return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
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}
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}
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} // namespace internal
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} // namespace ceres
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