mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
87 lines
3.2 KiB
C++
87 lines
3.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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 <glog/logging.h>
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#include "ceres/conjugate_gradients_solver.h"
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#include "ceres/dense_qr_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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namespace ceres {
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namespace internal {
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LinearSolver::~LinearSolver() {
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}
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LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
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switch (options.type) {
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case CONJUGATE_GRADIENTS:
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return new ConjugateGradientsSolver(options);
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case SPARSE_NORMAL_CHOLESKY:
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#ifndef CERES_NO_SUITESPARSE
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return new SparseNormalCholeskySolver(options);
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#else
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LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
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<< "build Ceres with SuiteSparse. Returning NULL.";
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return NULL;
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#endif // CERES_NO_SUITESPARSE
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case SPARSE_SCHUR:
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#ifndef CERES_NO_SUITESPARSE
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return new SparseSchurComplementSolver(options);
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#else
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LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
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<< "build Ceres with SuiteSparse. Returning NULL.";
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return NULL;
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#endif // CERES_NO_SUITESPARSE
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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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return new IterativeSchurComplementSolver(options);
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case DENSE_QR:
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return new DenseQRSolver(options);
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default:
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LOG(FATAL) << "Unknown linear solver type :"
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<< options.type;
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}
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}
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} // namespace internal
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} // namespace ceres
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