Multiple sparse linear algebra backends.
1. Added support for CXSparse - SparseNormalCholesky and
SchurComplementSolver support SuiteSparse and CXSparse now.
I am not sure I will add suport for visibility based
preconditioning using CXSparse. Its not a high priority.
2. New enum SparseLinearAlgebraLibraryType which allows the user
to indicate which sparse linear algebra library should be used.
3. Updated tests for SolverImpl and system_test.
4. Build system changes to automatically detect CXSparse and
link to it by default -- just like SuiteSparse.
5. Minor bug fixes dealing in the cmake files and VBP.
6. Changed the order of the system test.
7. Deduped the unsymmetric linear solver test.
Change-Id: I33252a103c87b722ecb7ed7b5f0ae7fd91249244
diff --git a/internal/ceres/schur_complement_solver.h b/internal/ceres/schur_complement_solver.h
index 7cd019a..b788ce0 100644
--- a/internal/ceres/schur_complement_solver.h
+++ b/internal/ceres/schur_complement_solver.h
@@ -145,7 +145,7 @@
DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
};
-#ifndef CERES_NO_SUITESPARSE
+
// Sparse Cholesky factorization based solver.
class SparseSchurComplementSolver : public SchurComplementSolver {
public:
@@ -155,26 +155,17 @@
private:
virtual void InitStorage(const CompressedRowBlockStructure* bs);
virtual bool SolveReducedLinearSystem(double* solution);
+ bool SolveReducedLinearSystemUsingSuiteSparse(double* solution);
+ bool SolveReducedLinearSystemUsingCXSparse(double* solution);
-
+#ifndef CERES_NO_SUITESPARSE
SuiteSparse ss_;
// Symbolic factorization of the reduced linear system. Precomputed
// once and reused in subsequent calls.
cholmod_factor* symbolic_factor_;
+#endif // CERES_NO_SUITESPARSE
DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
};
-#else // CERES_NO_SUITESPARSE
-class SparseSchurComplementSolver : public SchurComplementSolver {
- public:
- explicit SparseSchurComplementSolver(const LinearSolver::Options& options)
- : SchurComplementSolver(options) {
- LOG(FATAL) << "SPARSE_SCHUR is not available. Please "
- "build Ceres with SuiteSparse.";
- }
-
- virtual ~SparseSchurComplementSolver() {}
-};
-#endif // CERES_NO_SUITESPARSE
} // namespace internal
} // namespace ceres
