// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2015 Google Inc. All rights reserved.

// http://ceres-solver.org/

//

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// modification, are permitted provided that the following conditions are met:

//

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//   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.

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//   used to endorse or promote products derived from this software without

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//

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// Author: keir@google.com (Keir Mierle)

#include <vector>

#include "ceres/block_evaluate_preparer.h"

#include "ceres/block_jacobian_writer.h"

#include "ceres/compressed_row_jacobian_writer.h"

#include "ceres/compressed_row_sparse_matrix.h"

#include "ceres/crs_matrix.h"

#include "ceres/dense_jacobian_writer.h"

#include "ceres/dynamic_compressed_row_finalizer.h"

#include "ceres/dynamic_compressed_row_jacobian_writer.h"

#include "ceres/evaluator.h"

#include "ceres/internal/port.h"

#include "ceres/program_evaluator.h"

#include "ceres/scratch_evaluate_preparer.h"

#include "glog/logging.h"

namespace ceres {

namespace internal {

Evaluator::~Evaluator() {}

Evaluator* Evaluator::Create(const Evaluator::Options& options,

                             Program* program,

                             std::string* error) {

  switch (options.linear_solver_type) {

    case DENSE_QR:

    case DENSE_NORMAL_CHOLESKY:

      return new ProgramEvaluator

                                  DenseJacobianWriter>(options,

                                                       program);

    case DENSE_SCHUR:

    case SPARSE_SCHUR:

    case ITERATIVE_SCHUR:

    case CGNR:

      return new ProgramEvaluator

                                  BlockJacobianWriter>(options,

                                                       program);

    case SPARSE_NORMAL_CHOLESKY:

      if (options.dynamic_sparsity) {

        return new ProgramEvaluator

                                    DynamicCompressedRowJacobianWriter,

                                    DynamicCompressedRowJacobianFinalizer>(

                                        options, program);

      } else {

        return new ProgramEvaluator

                                    BlockJacobianWriter>(options,

                                                         program);

      }

    default:

      *error = "Invalid Linear Solver Type. Unable to create evaluator.";

      return NULL;

  }

}

}  // namespace internal

}  // namespace ceres