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Add sequence Cholesky solver (#1396) #1396

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cdtwigg wants to merge 1 commit into from
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Add sequence Cholesky solver (#1396) #1396

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3 changes: 3 additions & 0 deletions cmake/build_variables.bzl
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Original file line number Diff line number Diff line change
Expand Up @@ -442,6 +442,8 @@ character_sequence_solver_public_headers = [
"character_sequence_solver/multipose_solver_function.h",
"character_sequence_solver/multipose_solver.h",
"character_sequence_solver/sequence_error_function.h",
"character_sequence_solver/sequence_cholesky_solver.h",
"character_sequence_solver/sequence_solver_base.h",
"character_sequence_solver/sequence_solver_function.h",
"character_sequence_solver/sequence_solver.h",
"character_sequence_solver/state_sequence_error_function.h",
Expand All @@ -456,6 +458,7 @@ character_sequence_solver_sources = [
"character_sequence_solver/model_parameters_sequence_error_function.cpp",
"character_sequence_solver/multipose_solver_function.cpp",
"character_sequence_solver/multipose_solver.cpp",
"character_sequence_solver/sequence_cholesky_solver.cpp",
"character_sequence_solver/sequence_solver_function.cpp",
"character_sequence_solver/sequence_solver.cpp",
"character_sequence_solver/state_sequence_error_function.cpp",
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58 changes: 58 additions & 0 deletions momentum/character_sequence_solver/fwd.h
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Expand Up @@ -24,6 +24,26 @@ using MultiposeSolverOptions_const_p = ::std::shared_ptr<const MultiposeSolverOp
using MultiposeSolverOptions_const_u = ::std::unique_ptr<const MultiposeSolverOptions>;
using MultiposeSolverOptions_const_w = ::std::weak_ptr<const MultiposeSolverOptions>;

struct SequenceCholeskySolverOptions;

using SequenceCholeskySolverOptions_p = ::std::shared_ptr<SequenceCholeskySolverOptions>;
using SequenceCholeskySolverOptions_u = ::std::unique_ptr<SequenceCholeskySolverOptions>;
using SequenceCholeskySolverOptions_w = ::std::weak_ptr<SequenceCholeskySolverOptions>;
using SequenceCholeskySolverOptions_const_p =
::std::shared_ptr<const SequenceCholeskySolverOptions>;
using SequenceCholeskySolverOptions_const_u =
::std::unique_ptr<const SequenceCholeskySolverOptions>;
using SequenceCholeskySolverOptions_const_w = ::std::weak_ptr<const SequenceCholeskySolverOptions>;

struct SequenceSolverOptionsBase;

using SequenceSolverOptionsBase_p = ::std::shared_ptr<SequenceSolverOptionsBase>;
using SequenceSolverOptionsBase_u = ::std::unique_ptr<SequenceSolverOptionsBase>;
using SequenceSolverOptionsBase_w = ::std::weak_ptr<SequenceSolverOptionsBase>;
using SequenceSolverOptionsBase_const_p = ::std::shared_ptr<const SequenceSolverOptionsBase>;
using SequenceSolverOptionsBase_const_u = ::std::unique_ptr<const SequenceSolverOptionsBase>;
using SequenceSolverOptionsBase_const_w = ::std::weak_ptr<const SequenceSolverOptionsBase>;

struct SequenceSolverOptions;

using SequenceSolverOptions_p = ::std::shared_ptr<SequenceSolverOptions>;
Expand Down Expand Up @@ -196,6 +216,44 @@ using MultiposeSolverFunctiond_const_p = ::std::shared_ptr<const MultiposeSolver
using MultiposeSolverFunctiond_const_u = ::std::unique_ptr<const MultiposeSolverFunctiond>;
using MultiposeSolverFunctiond_const_w = ::std::weak_ptr<const MultiposeSolverFunctiond>;

template <typename T>
class SequenceCholeskySolverT;
using SequenceCholeskySolver = SequenceCholeskySolverT<float>;
using SequenceCholeskySolverd = SequenceCholeskySolverT<double>;

using SequenceCholeskySolver_p = ::std::shared_ptr<SequenceCholeskySolver>;
using SequenceCholeskySolver_u = ::std::unique_ptr<SequenceCholeskySolver>;
using SequenceCholeskySolver_w = ::std::weak_ptr<SequenceCholeskySolver>;
using SequenceCholeskySolver_const_p = ::std::shared_ptr<const SequenceCholeskySolver>;
using SequenceCholeskySolver_const_u = ::std::unique_ptr<const SequenceCholeskySolver>;
using SequenceCholeskySolver_const_w = ::std::weak_ptr<const SequenceCholeskySolver>;

using SequenceCholeskySolverd_p = ::std::shared_ptr<SequenceCholeskySolverd>;
using SequenceCholeskySolverd_u = ::std::unique_ptr<SequenceCholeskySolverd>;
using SequenceCholeskySolverd_w = ::std::weak_ptr<SequenceCholeskySolverd>;
using SequenceCholeskySolverd_const_p = ::std::shared_ptr<const SequenceCholeskySolverd>;
using SequenceCholeskySolverd_const_u = ::std::unique_ptr<const SequenceCholeskySolverd>;
using SequenceCholeskySolverd_const_w = ::std::weak_ptr<const SequenceCholeskySolverd>;

template <typename T>
class SequenceSolverBaseT;
using SequenceSolverBase = SequenceSolverBaseT<float>;
using SequenceSolverBased = SequenceSolverBaseT<double>;

using SequenceSolverBase_p = ::std::shared_ptr<SequenceSolverBase>;
using SequenceSolverBase_u = ::std::unique_ptr<SequenceSolverBase>;
using SequenceSolverBase_w = ::std::weak_ptr<SequenceSolverBase>;
using SequenceSolverBase_const_p = ::std::shared_ptr<const SequenceSolverBase>;
using SequenceSolverBase_const_u = ::std::unique_ptr<const SequenceSolverBase>;
using SequenceSolverBase_const_w = ::std::weak_ptr<const SequenceSolverBase>;

using SequenceSolverBased_p = ::std::shared_ptr<SequenceSolverBased>;
using SequenceSolverBased_u = ::std::unique_ptr<SequenceSolverBased>;
using SequenceSolverBased_w = ::std::weak_ptr<SequenceSolverBased>;
using SequenceSolverBased_const_p = ::std::shared_ptr<const SequenceSolverBased>;
using SequenceSolverBased_const_u = ::std::unique_ptr<const SequenceSolverBased>;
using SequenceSolverBased_const_w = ::std::weak_ptr<const SequenceSolverBased>;

template <typename T>
class SequenceSolverT;
using SequenceSolver = SequenceSolverT<float>;
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