mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergiu Deitsch
484d3414e4
virtual can be ambiguous. Applied changes correspond to clang-tidy fixes stemming from the modernize-use-override check. Change-Id: I973afd4680a5df587419777504aeb94467196b89
91 lines
3.6 KiB
C++
91 lines
3.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2017 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
//
|
|
// A simple C++ interface to the Eigen's Sparse Cholesky routines.
|
|
|
|
#ifndef CERES_INTERNAL_EIGENSPARSE_H_
|
|
#define CERES_INTERNAL_EIGENSPARSE_H_
|
|
|
|
// This include must come before any #ifndef check on Ceres compile options.
|
|
#include "ceres/internal/port.h"
|
|
|
|
#ifdef CERES_USE_EIGEN_SPARSE
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "Eigen/SparseCore"
|
|
#include "ceres/linear_solver.h"
|
|
#include "ceres/sparse_cholesky.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
class EigenSparseCholesky : public SparseCholesky {
|
|
public:
|
|
// Factory
|
|
static std::unique_ptr<SparseCholesky> Create(
|
|
const OrderingType ordering_type);
|
|
|
|
// SparseCholesky interface.
|
|
~EigenSparseCholesky() override;
|
|
LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
|
|
std::string* message) override = 0;
|
|
CompressedRowSparseMatrix::StorageType StorageType() const override = 0;
|
|
LinearSolverTerminationType Solve(const double* rhs,
|
|
double* solution,
|
|
std::string* message) override = 0;
|
|
};
|
|
|
|
// Even though the input is double precision linear system, this class
|
|
// solves it by computing a single precision Cholesky factorization.
|
|
class FloatEigenSparseCholesky : public SparseCholesky {
|
|
public:
|
|
// Factory
|
|
static std::unique_ptr<SparseCholesky> Create(
|
|
const OrderingType ordering_type);
|
|
|
|
// SparseCholesky interface.
|
|
~FloatEigenSparseCholesky() override;
|
|
LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
|
|
std::string* message) override = 0;
|
|
CompressedRowSparseMatrix::StorageType StorageType() const override = 0;
|
|
LinearSolverTerminationType Solve(const double* rhs,
|
|
double* solution,
|
|
std::string* message) override = 0;
|
|
};
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_USE_EIGEN_SPARSE
|
|
|
|
#endif // CERES_INTERNAL_EIGENSPARSE_H_
|