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

#include "Eigen/Dense"
#include "benchmark/benchmark.h"
#include "ceres/invert_psd_matrix.h"

namespace ceres::internal {

template <int kSize>
void BenchmarkFixedSizedInvertPSDMatrix(benchmark::State& state) {
  using MatrixType = typename EigenTypes<kSize, kSize>::Matrix;
  MatrixType input = MatrixType::Random();
  input += input.transpose() + MatrixType::Identity();

  MatrixType output;
  constexpr bool kAssumeFullRank = true;
  for (auto _ : state) {
    benchmark::DoNotOptimize(
        output = InvertPSDMatrix<kSize>(kAssumeFullRank, input));
  }
}

BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 1);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 2);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 3);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 4);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 5);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 6);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 7);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 8);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 9);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 10);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 11);
BENCHMARK_TEMPLATE(BenchmarkFixedSizedInvertPSDMatrix, 12);

static void BenchmarkDynamicallyInvertPSDMatrix(benchmark::State& state) {
  using MatrixType =
      typename EigenTypes<Eigen::Dynamic, Eigen::Dynamic>::Matrix;
  const int size = static_cast<int>(state.range(0));
  MatrixType input = MatrixType::Random(size, size);
  input += input.transpose() + MatrixType::Identity(size, size);

  MatrixType output;
  constexpr bool kAssumeFullRank = true;
  for (auto _ : state) {
    benchmark::DoNotOptimize(
        output = InvertPSDMatrix<Eigen::Dynamic>(kAssumeFullRank, input));
  }
}

BENCHMARK(BenchmarkDynamicallyInvertPSDMatrix)
    ->Apply([](benchmark::internal::Benchmark* benchmark) {
      for (int i = 1; i < 13; ++i) {
        benchmark->Args({i});
      }
    });

}  // namespace ceres::internal

BENCHMARK_MAIN();