Initial commit of Ceres Solver.
diff --git a/internal/ceres/linear_solver.cc b/internal/ceres/linear_solver.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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)
+
+#include "ceres/linear_solver.h"
+
+#include <glog/logging.h>
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/iterative_schur_complement_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/sparse_normal_cholesky_solver.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+LinearSolver::~LinearSolver() {
+}
+
+LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
+ switch (options.type) {
+ case CONJUGATE_GRADIENTS:
+ return new ConjugateGradientsSolver(options);
+
+ case SPARSE_NORMAL_CHOLESKY:
+#ifndef CERES_NO_SUITESPARSE
+ return new SparseNormalCholeskySolver(options);
+#else
+ LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
+ << "build Ceres with SuiteSparse. Returning NULL.";
+ return NULL;
+#endif // CERES_NO_SUITESPARSE
+
+ case SPARSE_SCHUR:
+#ifndef CERES_NO_SUITESPARSE
+ return new SparseSchurComplementSolver(options);
+#else
+ LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
+ << "build Ceres with SuiteSparse. Returning NULL.";
+ return NULL;
+#endif // CERES_NO_SUITESPARSE
+
+ case DENSE_SCHUR:
+ return new DenseSchurComplementSolver(options);
+
+ case ITERATIVE_SCHUR:
+ return new IterativeSchurComplementSolver(options);
+
+ case DENSE_QR:
+ return new DenseQRSolver(options);
+
+ default:
+ LOG(FATAL) << "Unknown linear solver type :"
+ << options.type;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
