Initial commit of Ceres Solver.
diff --git a/internal/ceres/sparse_normal_cholesky_solver.h b/internal/ceres/sparse_normal_cholesky_solver.h
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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)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+#ifndef CERES_NO_SUITESPARSE
+
+#include "cholmod.h"
+#include "cholmod_core.h"
+#include "ceres/linear_solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+// Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse
+// cholesky solver.
+class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
+ public:
+ explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
+ virtual ~SparseNormalCholeskySolver();
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ SuiteSparse ss_;
+
+ // Cached factorization
+ cholmod_factor* symbolic_factor_;
+ DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
+
+#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
