| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // this list of conditions and the following disclaimer in the documentation |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // A solver for sparse linear least squares problem based on solving |
| // the normal equations via a sparse cholesky factorization. |
| |
| #ifndef CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |
| #define CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |
| |
| // This include must come before any #ifndef check on Ceres compile options. |
| // clang-format off |
| #include "ceres/internal/config.h" |
| // clang-format on |
| |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| |
| namespace ceres::internal { |
| |
| class CompressedRowSparseMatrix; |
| |
| // A variant of SparseNormalCholeskySolver in the case where matrix |
| // sparsity is not constant across calls to Solve. This means that |
| // there is no benefit to symbolically factorizing the matrix and |
| // caching this factorization. |
| // |
| // TODO(alex): Add support for Accelerate sparse solvers: |
| // https://github.com/ceres-solver/ceres-solver/issues/397 |
| class CERES_NO_EXPORT DynamicSparseNormalCholeskySolver |
| : public CompressedRowSparseMatrixSolver { |
| public: |
| explicit DynamicSparseNormalCholeskySolver(LinearSolver::Options options); |
| |
| private: |
| LinearSolver::Summary SolveImpl(CompressedRowSparseMatrix* A, |
| const double* b, |
| const LinearSolver::PerSolveOptions& options, |
| double* x) final; |
| |
| LinearSolver::Summary SolveImplUsingSuiteSparse(CompressedRowSparseMatrix* A, |
| double* rhs_and_solution); |
| |
| LinearSolver::Summary SolveImplUsingEigen(CompressedRowSparseMatrix* A, |
| double* rhs_and_solution); |
| |
| const LinearSolver::Options options_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_ |