| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2017 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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 simple C++ interface to the Eigen's Sparse Cholesky routines. |
| |
| #ifndef CERES_INTERNAL_EIGENSPARSE_H_ |
| #define CERES_INTERNAL_EIGENSPARSE_H_ |
| |
| // This include must come before any #ifndef check on Ceres compile options. |
| #include "ceres/internal/config.h" |
| |
| #ifdef CERES_USE_EIGEN_SPARSE |
| |
| #include <memory> |
| #include <string> |
| |
| #include "Eigen/SparseCore" |
| #include "ceres/internal/export.h" |
| #include "ceres/linear_solver.h" |
| #include "ceres/sparse_cholesky.h" |
| |
| namespace ceres::internal { |
| |
| class EigenSparse { |
| public: |
| static constexpr bool IsNestedDissectionAvailable() noexcept { |
| #ifdef CERES_NO_EIGEN_METIS |
| return false; |
| #else |
| return true; |
| #endif |
| } |
| }; |
| |
| class CERES_NO_EXPORT EigenSparseCholesky : public SparseCholesky { |
| public: |
| // Factory |
| static std::unique_ptr<SparseCholesky> Create( |
| const OrderingType ordering_type); |
| |
| // SparseCholesky interface. |
| ~EigenSparseCholesky() override; |
| LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs, |
| std::string* message) override = 0; |
| CompressedRowSparseMatrix::StorageType StorageType() const override = 0; |
| LinearSolverTerminationType Solve(const double* rhs, |
| double* solution, |
| std::string* message) override = 0; |
| }; |
| |
| // Even though the input is double precision linear system, this class |
| // solves it by computing a single precision Cholesky factorization. |
| class CERES_NO_EXPORT FloatEigenSparseCholesky : public SparseCholesky { |
| public: |
| // Factory |
| static std::unique_ptr<SparseCholesky> Create( |
| const OrderingType ordering_type); |
| |
| // SparseCholesky interface. |
| ~FloatEigenSparseCholesky() override; |
| LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs, |
| std::string* message) override = 0; |
| CompressedRowSparseMatrix::StorageType StorageType() const override = 0; |
| LinearSolverTerminationType Solve(const double* rhs, |
| double* solution, |
| std::string* message) override = 0; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #else |
| |
| namespace ceres::internal { |
| |
| class EigenSparse { |
| public: |
| static constexpr bool IsNestedDissectionAvailable() noexcept { return false; } |
| }; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_USE_EIGEN_SPARSE |
| |
| #endif // CERES_INTERNAL_EIGENSPARSE_H_ |