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/sparse_normal_cholesky_solver.h b/internal/ceres/sparse_normal_cholesky_solver.h
index ce1d6d2..5445559 100644
--- a/internal/ceres/sparse_normal_cholesky_solver.h
+++ b/internal/ceres/sparse_normal_cholesky_solver.h
@@ -35,11 +35,11 @@
#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"
+#endif // CERES_NO_SUITESPARSE
+
+#include "ceres/linear_solver.h"
#include "ceres/internal/macros.h"
namespace ceres {
@@ -61,17 +61,31 @@
const LinearSolver::PerSolveOptions& options,
double* x);
- const LinearSolver::Options options_;
- SuiteSparse ss_;
+ LinearSolver::Summary SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+ // Crashes if CSparse is not installed.
+ LinearSolver::Summary SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+#ifndef CERES_NO_SUITESPARSE
+ SuiteSparse ss_;
// Cached factorization
cholmod_factor* symbolic_factor_;
+#endif // CERES_NO_SUITESPARSE
+
+
+ const LinearSolver::Options options_;
DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
};
} // namespace internal
} // namespace ceres
-#endif // CERES_NO_SUITESPARSE
-
#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
