internal/ceres/sparse_cholesky.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/sparse_cholesky.h"

#include "ceres/cxsparse.h"
#include "ceres/eigensparse.h"
#include "ceres/suitesparse.h"

namespace ceres {
namespace internal {

SparseCholesky* SparseCholesky::Create(
    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
    OrderingType ordering_type) {
  switch (sparse_linear_algebra_library_type) {
    case SUITE_SPARSE:
#ifndef CERES_NO_SUITESPARSE
      return SuiteSparseCholesky::Create(ordering_type);
#else
      LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
      return NULL;
#endif

    case EIGEN_SPARSE:
#ifdef CERES_USE_EIGEN_SPARSE
      return EigenSparseCholesky::Create(ordering_type);
#else
      LOG(FATAL) << "Ceres was compiled without support for "
                 << "Eigen's sparse Cholesky factorization routines.";
      return NULL;
#endif

    case CX_SPARSE:
#ifndef CERES_NO_CXSPARSE
      return CXSparseCholesky::Create(ordering_type);
#else
      LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
      return NULL;
#endif

    default:
      LOG(FATAL) << "Unknown sparse linear algebra library type : "
                 << SparseLinearAlgebraLibraryTypeToString(
                        sparse_linear_algebra_library_type);
  }
  return NULL;
}

SparseCholesky::~SparseCholesky() {}

LinearSolverTerminationType SparseCholesky::FactorAndSolve(
    CompressedRowSparseMatrix* lhs,
    const double* rhs,
    double* solution,
    std::string* message) {
  LinearSolverTerminationType termination_type = Factorize(lhs, message);
  if (termination_type == LINEAR_SOLVER_SUCCESS) {
    termination_type = Solve(rhs, solution, message);
  }
  return termination_type;
}

CompressedRowSparseMatrix::StorageType StorageTypeForSparseLinearAlgebraLibrary(
    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
  if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
    return CompressedRowSparseMatrix::UPPER_TRIANGULAR;
  }
  return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
}

}  // namespace internal
}  // namespace ceres