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

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// What template specializations are available.
//
// ========================================
// 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 "ceres/internal/eigen.h"
#include "ceres/schur_templates.h"

namespace ceres {
namespace internal {

void GetBestSchurTemplateSpecialization(int* row_block_size,
                                        int* e_block_size,
                                        int* f_block_size) {
  LinearSolver::Options options;
  options.row_block_size = *row_block_size;
  options.e_block_size = *e_block_size;
  options.f_block_size = *f_block_size;
  *row_block_size = Eigen::Dynamic;
  *e_block_size = Eigen::Dynamic;
  *f_block_size = Eigen::Dynamic;
#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 2)) {
    *row_block_size = 2;
    *e_block_size = 2;
    *f_block_size = 2;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 3)) {
    *row_block_size = 2;
    *e_block_size = 2;
    *f_block_size = 3;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2) &&
     (options.f_block_size == 4)) {
    *row_block_size = 2;
    *e_block_size = 2;
    *f_block_size = 4;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 2)) {
    *row_block_size = 2;
    *e_block_size = 2;
    *f_block_size = Eigen::Dynamic;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 3)) {
    *row_block_size = 2;
    *e_block_size = 3;
    *f_block_size = 3;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 4)) {
    *row_block_size = 2;
    *e_block_size = 3;
    *f_block_size = 4;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 6)) {
    *row_block_size = 2;
    *e_block_size = 3;
    *f_block_size = 6;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 9)) {
    *row_block_size = 2;
    *e_block_size = 3;
    *f_block_size = 9;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 3)) {
    *row_block_size = 2;
    *e_block_size = 3;
    *f_block_size = Eigen::Dynamic;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 3)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = 3;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 4)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = 4;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 6)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = 6;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 8)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = 8;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 9)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = 9;
    return;
  }
  if ((options.row_block_size == 2) &&
     (options.e_block_size == 4)) {
    *row_block_size = 2;
    *e_block_size = 4;
    *f_block_size = Eigen::Dynamic;
    return;
  }
  if (options.row_block_size == 2) {
    *row_block_size = 2;
    *e_block_size = Eigen::Dynamic;
    *f_block_size = Eigen::Dynamic;
    return;
  }
  if ((options.row_block_size == 3) &&
     (options.e_block_size == 3) &&
     (options.f_block_size == 3)) {
    *row_block_size = 3;
    *e_block_size = 3;
    *f_block_size = 3;
    return;
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 2)) {
    *row_block_size = 4;
    *e_block_size = 4;
    *f_block_size = 2;
    return;
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 3)) {
    *row_block_size = 4;
    *e_block_size = 4;
    *f_block_size = 3;
    return;
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4) &&
     (options.f_block_size == 4)) {
    *row_block_size = 4;
    *e_block_size = 4;
    *f_block_size = 4;
    return;
  }
  if ((options.row_block_size == 4) &&
     (options.e_block_size == 4)) {
    *row_block_size = 4;
    *e_block_size = 4;
    *f_block_size = Eigen::Dynamic;
    return;
  }

#endif
  return;
}

}  // namespace internal
}  // namespace ceres