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

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Template specialization of SchurEliminator.
//
// ========================================
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
//=========================================
//
// This file is generated using generate_template_specializations.py.

#include <memory>

#include "ceres/linear_solver.h"
#include "ceres/schur_eliminator.h"

namespace ceres::internal {

SchurEliminatorBase::~SchurEliminatorBase() = default;

std::unique_ptr<SchurEliminatorBase> SchurEliminatorBase::Create(
    const LinearSolver::Options& options) {
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 2)) {
    return std::make_unique<SchurEliminator<2, 2, 2>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 3)) {
    return std::make_unique<SchurEliminator<2, 2, 3>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 4)) {
    return std::make_unique<SchurEliminator<2, 2, 4>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2)) {
    return std::make_unique<SchurEliminator<2, 2, Eigen::Dynamic>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 3)) {
    return std::make_unique<SchurEliminator<2, 3, 3>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 4)) {
    return std::make_unique<SchurEliminator<2, 3, 4>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 6)) {
    return std::make_unique<SchurEliminator<2, 3, 6>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 9)) {
    return std::make_unique<SchurEliminator<2, 3, 9>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3)) {
    return std::make_unique<SchurEliminator<2, 3, Eigen::Dynamic>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 3)) {
    return std::make_unique<SchurEliminator<2, 4, 3>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 4)) {
    return std::make_unique<SchurEliminator<2, 4, 4>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 6)) {
    return std::make_unique<SchurEliminator<2, 4, 6>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 8)) {
    return std::make_unique<SchurEliminator<2, 4, 8>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 9)) {
    return std::make_unique<SchurEliminator<2, 4, 9>>(options);
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4)) {
    return std::make_unique<SchurEliminator<2, 4, Eigen::Dynamic>>(options);
  }
  if (options.row_block_size == 2) {
    return std::make_unique<SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>>(options);
  }
  if ((options.row_block_size == 3) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 3)) {
    return std::make_unique<SchurEliminator<3, 3, 3>>(options);
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 2)) {
    return std::make_unique<SchurEliminator<4, 4, 2>>(options);
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 3)) {
    return std::make_unique<SchurEliminator<4, 4, 3>>(options);
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 4)) {
    return std::make_unique<SchurEliminator<4, 4, 4>>(options);
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4)) {
    return std::make_unique<SchurEliminator<4, 4, Eigen::Dynamic>>(options);
  }

#endif
  VLOG(1) << "Template specializations not found for <"
          << options.row_block_size << "," << options.e_block_size << ","
          << options.f_block_size << ">";
  return std::make_unique<SchurEliminator<Eigen::Dynamic,
                                          Eigen::Dynamic,
                                          Eigen::Dynamic>>(options);
}

}  // namespace ceres::internal