// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// A solver for sparse linear least squares problem based on solving
// the normal equations via a sparse cholesky factorization.
#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/port.h"
#include "ceres/internal/macros.h"
#include "ceres/linear_solver.h"
#include "ceres/suitesparse.h"
#include "ceres/cxsparse.h"
#ifdef CERES_USE_EIGEN_SPARSE
#include "Eigen/SparseCholesky"
#endif
namespace ceres {
namespace internal {
class CompressedRowSparseMatrix;
// Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse
// cholesky solver.
class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
public:
explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
virtual ~SparseNormalCholeskySolver();
private:
virtual LinearSolver::Summary SolveImpl(
CompressedRowSparseMatrix* A,
const double* b,
const LinearSolver::PerSolveOptions& options,
double* x);
LinearSolver::Summary SolveImplUsingSuiteSparse(
CompressedRowSparseMatrix* A,
const LinearSolver::PerSolveOptions& options,
double* rhs_and_solution);
// Crashes if CSparse is not installed.
LinearSolver::Summary SolveImplUsingCXSparse(
CompressedRowSparseMatrix* A,
const LinearSolver::PerSolveOptions& options,
double* rhs_and_solution);
// Crashes if CERES_USE_LGPGL_CODE is not defined.
LinearSolver::Summary SolveImplUsingEigen(
CompressedRowSparseMatrix* A,
const LinearSolver::PerSolveOptions& options,
double* rhs_and_solution);
void FreeFactorization();
SuiteSparse ss_;
// Cached factorization
cholmod_factor* factor_;
CXSparse cxsparse_;
// Cached factorization
cs_dis* cxsparse_factor_;
#ifdef CERES_USE_EIGEN_SPARSE
typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
Eigen::Upper> SimplicialLDLT;
scoped_ptr<SimplicialLDLT> simplicial_ldlt_;
#endif
scoped_ptr<CompressedRowSparseMatrix> outer_product_;
vector<int> pattern_;
const LinearSolver::Options options_;
CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_