| // 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 |
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| // 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/port.h" |
| |
| #ifdef CERES_USE_EIGEN_SPARSE |
| |
| #include <memory> |
| #include <string> |
| |
| #include "Eigen/SparseCore" |
| #include "ceres/linear_solver.h" |
| #include "ceres/sparse_cholesky.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class EigenSparseCholesky : public SparseCholesky { |
| public: |
| // Factory |
| static std::unique_ptr<SparseCholesky> Create( |
| const OrderingType ordering_type); |
| |
| // SparseCholesky interface. |
| virtual ~EigenSparseCholesky(); |
| virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs, |
| std::string* message) = 0; |
| virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0; |
| virtual LinearSolverTerminationType Solve(const double* rhs, |
| double* solution, |
| std::string* message) = 0; |
| }; |
| |
| // Even though the input is double precision linear system, this class |
| // solves it by computing a single precision Cholesky factorization. |
| class FloatEigenSparseCholesky : public SparseCholesky { |
| public: |
| // Factory |
| static std::unique_ptr<SparseCholesky> Create( |
| const OrderingType ordering_type); |
| |
| // SparseCholesky interface. |
| virtual ~FloatEigenSparseCholesky(); |
| virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs, |
| std::string* message) = 0; |
| virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0; |
| virtual LinearSolverTerminationType Solve(const double* rhs, |
| double* solution, |
| std::string* message) = 0; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_USE_EIGEN_SPARSE |
| |
| #endif // CERES_INTERNAL_EIGENSPARSE_H_ |