Add SparseCholesky
SparseCholesky is an interface to sparse cholesky factorization
routines across sparse linear algebra libraries. Each sparse
linear algebra library is responsible for implementing its own
instance of this interface.
As a result the various places - SparseNormalCholeskySolver,
SparseSchurComplementSolver and VisibilityBasedPreconditioner
are significantly simplified.
Change-Id: I8b465705eae83bba9e1adfffcc741a05c70faf2e
diff --git a/internal/ceres/eigensparse.h b/internal/ceres/eigensparse.h
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+++ b/internal/ceres/eigensparse.h
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+// 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 <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 EigenSparseCholesky* Create(const OrderingType ordering_type);
+
+ // SparseCholesky interface.
+ virtual ~EigenSparseCholesky();
+ virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0;
+ virtual LinearSolverTerminationType Factorize(
+ const Eigen::SparseMatrix<double>& lhs, std::string* message) = 0;
+ virtual LinearSolverTerminationType Solve(const double* rhs,
+ double* solution,
+ std::string* message) = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_USE_EIGEN_SPARSE
+
+#endif // CERES_INTERNAL_EIGENSPARSE_H_
