Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/jet_traits_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sergiu.deitsch@gmail.com (Sergiu Deitsch)

#include "ceres/internal/jet_traits.h"

#include <Eigen/Core>
#include <type_traits>
#include <utility>

namespace ceres::internal {

using J = Jet<double, 2>;
// Don't care about the dual part for scalar part categorization and comparison
// tests
template <typename T>
using J0 = Jet<T, 0>;
using J0d = J0<double>;

// Extract the ranks of given types
using Ranks001 = Ranks_t<Jet<double, 0>, double, Jet<double, 1>>;
using Ranks1 = Ranks_t<Jet<double, 1>>;
using Ranks110 = Ranks_t<Jet<double, 1>, Jet<double, 1>, double>;
using Ranks023 = Ranks_t<double, Jet<double, 2>, Jet<double, 3>>;
using EmptyRanks = Ranks_t<>;

// Ensure extracted ranks match the expected integer sequence
static_assert(
    std::is_same<Ranks001, std::integer_sequence<int, 0, 0, 1>>::value,
    "ranks do not match");
static_assert(std::is_same<Ranks1, std::integer_sequence<int, 1>>::value,
              "ranks do not match");
static_assert(
    std::is_same<Ranks110, std::integer_sequence<int, 1, 1, 0>>::value,
    "ranks do not match");
static_assert(
    std::is_same<Ranks023, std::integer_sequence<int, 0, 2, 3>>::value,
    "ranks do not match");
static_assert(std::is_same<EmptyRanks, std::integer_sequence<int>>::value,
              "ranks sequence is not empty");

// Extract the underlying floating-point type
static_assert(std::is_same<UnderlyingScalar_t<double>, double>::value,
              "underlying type is not a double");
static_assert(std::is_same<UnderlyingScalar_t<J0d>, double>::value,
              "underlying type is not a double");
static_assert(std::is_same<UnderlyingScalar_t<J0<J0d>>, double>::value,
              "underlying type is not a double");
static_assert(std::is_same<UnderlyingScalar_t<J0<J0<J0d>>>, double>::value,
              "underlying type is not a double");

static_assert(CompatibleJetOperands_v<Jet<double, 1>, Jet<double, 1>>,
              "Jets must be compatible");
static_assert(CompatibleJetOperands_v<Jet<double, 1>, double>,
              "Jet and scalar must be compatible");
static_assert(CompatibleJetOperands_v<Jet<double, 2>>,
              "single Jet must be compatible");
static_assert(!CompatibleJetOperands_v<Jet<double, 1>, double, Jet<double, 2>>,
              "Jets and scalar must not be compatible");
static_assert(!CompatibleJetOperands_v<double, double>,
              "scalars must not be compatible");
static_assert(!CompatibleJetOperands_v<double>,
              "single scalar must not be compatible");
static_assert(!CompatibleJetOperands_v<>,
              "empty arguments must not be compatible");

static_assert(!PromotableJetOperands_v<double>,
              "single scalar must not be Jet promotable");
static_assert(!PromotableJetOperands_v<double, float, int>,
              "multiple scalars must not be Jet promotable");
static_assert(PromotableJetOperands_v<J0d, float, int>,
              "Jet and several scalars must be promotable");
static_assert(PromotableJetOperands_v<J0<J0d>, float, int>,
              "nested Jet and several scalars must be promotable");
static_assert(!PromotableJetOperands_v<Eigen::Array<double, 2, 3>, float, int>,
              "Eigen::Array must not be Jet promotable");
static_assert(!PromotableJetOperands_v<Eigen::Matrix<double, 3, 2>, float, int>,
              "Eigen::Matrix must not be Jet promotable");

}  // namespace ceres::internal