1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2017 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30 //
31 // Template specialization of SchurEliminator.
32 //
33 // ========================================
34 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
35 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
36 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
37 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
38 //=========================================
39 //
40 // This file is generated using generate_template_specializations.py.
41
42 #include "ceres/linear_solver.h"
43 #include "ceres/schur_eliminator.h"
44 #include "ceres/internal/eigen.h"
45
46 namespace ceres {
47 namespace internal {
48
49 SchurEliminatorBase*
Create(const LinearSolver::Options & options)50 SchurEliminatorBase::Create(const LinearSolver::Options& options) {
51 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
52 if ((options.row_block_size == 2) &&
53 (options.e_block_size == 2) &&
54 (options.f_block_size == 2)) {
55 return new SchurEliminator<2, 2, 2>(options);
56 }
57 if ((options.row_block_size == 2) &&
58 (options.e_block_size == 2) &&
59 (options.f_block_size == 3)) {
60 return new SchurEliminator<2, 2, 3>(options);
61 }
62 if ((options.row_block_size == 2) &&
63 (options.e_block_size == 2) &&
64 (options.f_block_size == 4)) {
65 return new SchurEliminator<2, 2, 4>(options);
66 }
67 if ((options.row_block_size == 2) &&
68 (options.e_block_size == 2)) {
69 return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
70 }
71 if ((options.row_block_size == 2) &&
72 (options.e_block_size == 3) &&
73 (options.f_block_size == 3)) {
74 return new SchurEliminator<2, 3, 3>(options);
75 }
76 if ((options.row_block_size == 2) &&
77 (options.e_block_size == 3) &&
78 (options.f_block_size == 4)) {
79 return new SchurEliminator<2, 3, 4>(options);
80 }
81 if ((options.row_block_size == 2) &&
82 (options.e_block_size == 3) &&
83 (options.f_block_size == 6)) {
84 return new SchurEliminator<2, 3, 6>(options);
85 }
86 if ((options.row_block_size == 2) &&
87 (options.e_block_size == 3) &&
88 (options.f_block_size == 9)) {
89 return new SchurEliminator<2, 3, 9>(options);
90 }
91 if ((options.row_block_size == 2) &&
92 (options.e_block_size == 3)) {
93 return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
94 }
95 if ((options.row_block_size == 2) &&
96 (options.e_block_size == 4) &&
97 (options.f_block_size == 3)) {
98 return new SchurEliminator<2, 4, 3>(options);
99 }
100 if ((options.row_block_size == 2) &&
101 (options.e_block_size == 4) &&
102 (options.f_block_size == 4)) {
103 return new SchurEliminator<2, 4, 4>(options);
104 }
105 if ((options.row_block_size == 2) &&
106 (options.e_block_size == 4) &&
107 (options.f_block_size == 8)) {
108 return new SchurEliminator<2, 4, 8>(options);
109 }
110 if ((options.row_block_size == 2) &&
111 (options.e_block_size == 4) &&
112 (options.f_block_size == 9)) {
113 return new SchurEliminator<2, 4, 9>(options);
114 }
115 if ((options.row_block_size == 2) &&
116 (options.e_block_size == 4)) {
117 return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
118 }
119 if (options.row_block_size == 2){
120 return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
121 }
122 if ((options.row_block_size == 4) &&
123 (options.e_block_size == 4) &&
124 (options.f_block_size == 2)) {
125 return new SchurEliminator<4, 4, 2>(options);
126 }
127 if ((options.row_block_size == 4) &&
128 (options.e_block_size == 4) &&
129 (options.f_block_size == 3)) {
130 return new SchurEliminator<4, 4, 3>(options);
131 }
132 if ((options.row_block_size == 4) &&
133 (options.e_block_size == 4) &&
134 (options.f_block_size == 4)) {
135 return new SchurEliminator<4, 4, 4>(options);
136 }
137 if ((options.row_block_size == 4) &&
138 (options.e_block_size == 4)) {
139 return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
140 }
141
142 #endif
143 VLOG(1) << "Template specializations not found for <"
144 << options.row_block_size << ","
145 << options.e_block_size << ","
146 << options.f_block_size << ">";
147 return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
148 }
149
150 } // namespace internal
151 } // namespace ceres
152