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up to 7 var families (#45)
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@strasdat
strasdat authored Dec 7, 2024
1 parent 3d0c62b commit 11b2883
Showing 1 changed file with 222 additions and 0 deletions.
222 changes: 222 additions & 0 deletions crates/sophus_opt/src/variables.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,228 @@ impl<
}
}

impl<
M0: IsVariable + 'static + Send + Sync,
M1: IsVariable + 'static + Send + Sync,
M2: IsVariable + 'static + Send + Sync,
M3: IsVariable + 'static + Send + Sync,
> IsVarTuple<4> for (M0, M1, M2, M3)
{
const DOF_T: [usize; 4] = [M0::DOF, M1::DOF, M2::DOF, M3::DOF];
type VarFamilyTupleRef<'a> = (
&'a VarFamily<M0>,
&'a VarFamily<M1>,
&'a VarFamily<M2>,
&'a VarFamily<M3>,
);

fn var_kind_array(families: &VarPool, names: [alloc::string::String; 4]) -> [VarKind; 4] {
[
families.families.get(&names[0]).unwrap().get_var_kind(),
families.families.get(&names[1]).unwrap().get_var_kind(),
families.families.get(&names[2]).unwrap().get_var_kind(),
families.families.get(&names[3]).unwrap().get_var_kind(),
]
}

fn ref_var_family_tuple(
families: &VarPool,
names: [alloc::string::String; 4],
) -> Self::VarFamilyTupleRef<'_> {
(
families.get::<VarFamily<M0>>(names[0].clone()),
families.get::<VarFamily<M1>>(names[1].clone()),
families.get::<VarFamily<M2>>(names[2].clone()),
families.get::<VarFamily<M3>>(names[3].clone()),
)
}

fn extract(family_tuple: &Self::VarFamilyTupleRef<'_>, ids: [usize; 4]) -> Self {
(
family_tuple.0.members[ids[0]].clone(),
family_tuple.1.members[ids[1]].clone(),
family_tuple.2.members[ids[2]].clone(),
family_tuple.3.members[ids[3]].clone(),
)
}
}

impl<
M0: IsVariable + 'static + Send + Sync,
M1: IsVariable + 'static + Send + Sync,
M2: IsVariable + 'static + Send + Sync,
M3: IsVariable + 'static + Send + Sync,
M4: IsVariable + 'static + Send + Sync,
> IsVarTuple<5> for (M0, M1, M2, M3, M4)
{
const DOF_T: [usize; 5] = [M0::DOF, M1::DOF, M2::DOF, M3::DOF, M4::DOF];
type VarFamilyTupleRef<'a> = (
&'a VarFamily<M0>,
&'a VarFamily<M1>,
&'a VarFamily<M2>,
&'a VarFamily<M3>,
&'a VarFamily<M4>,
);

fn var_kind_array(families: &VarPool, names: [alloc::string::String; 5]) -> [VarKind; 5] {
[
families.families.get(&names[0]).unwrap().get_var_kind(),
families.families.get(&names[1]).unwrap().get_var_kind(),
families.families.get(&names[2]).unwrap().get_var_kind(),
families.families.get(&names[3]).unwrap().get_var_kind(),
families.families.get(&names[4]).unwrap().get_var_kind(),
]
}

fn ref_var_family_tuple(
families: &VarPool,
names: [alloc::string::String; 5],
) -> Self::VarFamilyTupleRef<'_> {
(
families.get::<VarFamily<M0>>(names[0].clone()),
families.get::<VarFamily<M1>>(names[1].clone()),
families.get::<VarFamily<M2>>(names[2].clone()),
families.get::<VarFamily<M3>>(names[3].clone()),
families.get::<VarFamily<M4>>(names[4].clone()),
)
}

fn extract(family_tuple: &Self::VarFamilyTupleRef<'_>, ids: [usize; 5]) -> Self {
(
family_tuple.0.members[ids[0]].clone(),
family_tuple.1.members[ids[1]].clone(),
family_tuple.2.members[ids[2]].clone(),
family_tuple.3.members[ids[3]].clone(),
family_tuple.4.members[ids[4]].clone(),
)
}
}

impl<
M0: IsVariable + 'static + Send + Sync,
M1: IsVariable + 'static + Send + Sync,
M2: IsVariable + 'static + Send + Sync,
M3: IsVariable + 'static + Send + Sync,
M4: IsVariable + 'static + Send + Sync,
M5: IsVariable + 'static + Send + Sync,
> IsVarTuple<6> for (M0, M1, M2, M3, M4, M5)
{
const DOF_T: [usize; 6] = [M0::DOF, M1::DOF, M2::DOF, M3::DOF, M4::DOF, M5::DOF];
type VarFamilyTupleRef<'a> = (
&'a VarFamily<M0>,
&'a VarFamily<M1>,
&'a VarFamily<M2>,
&'a VarFamily<M3>,
&'a VarFamily<M4>,
&'a VarFamily<M5>,
);

fn var_kind_array(families: &VarPool, names: [alloc::string::String; 6]) -> [VarKind; 6] {
[
families.families.get(&names[0]).unwrap().get_var_kind(),
families.families.get(&names[1]).unwrap().get_var_kind(),
families.families.get(&names[2]).unwrap().get_var_kind(),
families.families.get(&names[3]).unwrap().get_var_kind(),
families.families.get(&names[4]).unwrap().get_var_kind(),
families.families.get(&names[5]).unwrap().get_var_kind(),
]
}

fn ref_var_family_tuple(
families: &VarPool,
names: [alloc::string::String; 6],
) -> Self::VarFamilyTupleRef<'_> {
(
families.get::<VarFamily<M0>>(names[0].clone()),
families.get::<VarFamily<M1>>(names[1].clone()),
families.get::<VarFamily<M2>>(names[2].clone()),
families.get::<VarFamily<M3>>(names[3].clone()),
families.get::<VarFamily<M4>>(names[4].clone()),
families.get::<VarFamily<M5>>(names[5].clone()),
)
}

fn extract(family_tuple: &Self::VarFamilyTupleRef<'_>, ids: [usize; 6]) -> Self {
(
family_tuple.0.members[ids[0]].clone(),
family_tuple.1.members[ids[1]].clone(),
family_tuple.2.members[ids[2]].clone(),
family_tuple.3.members[ids[3]].clone(),
family_tuple.4.members[ids[4]].clone(),
family_tuple.5.members[ids[5]].clone(),
)
}
}

impl<
M0: IsVariable + 'static + Send + Sync,
M1: IsVariable + 'static + Send + Sync,
M2: IsVariable + 'static + Send + Sync,
M3: IsVariable + 'static + Send + Sync,
M4: IsVariable + 'static + Send + Sync,
M5: IsVariable + 'static + Send + Sync,
M6: IsVariable + 'static + Send + Sync,
> IsVarTuple<7> for (M0, M1, M2, M3, M4, M5, M6)
{
const DOF_T: [usize; 7] = [
M0::DOF,
M1::DOF,
M2::DOF,
M3::DOF,
M4::DOF,
M5::DOF,
M6::DOF,
];
type VarFamilyTupleRef<'a> = (
&'a VarFamily<M0>,
&'a VarFamily<M1>,
&'a VarFamily<M2>,
&'a VarFamily<M3>,
&'a VarFamily<M4>,
&'a VarFamily<M5>,
&'a VarFamily<M6>,
);

fn var_kind_array(families: &VarPool, names: [alloc::string::String; 7]) -> [VarKind; 7] {
[
families.families.get(&names[0]).unwrap().get_var_kind(),
families.families.get(&names[1]).unwrap().get_var_kind(),
families.families.get(&names[2]).unwrap().get_var_kind(),
families.families.get(&names[3]).unwrap().get_var_kind(),
families.families.get(&names[4]).unwrap().get_var_kind(),
families.families.get(&names[5]).unwrap().get_var_kind(),
families.families.get(&names[6]).unwrap().get_var_kind(),
]
}

fn ref_var_family_tuple(
families: &VarPool,
names: [alloc::string::String; 7],
) -> Self::VarFamilyTupleRef<'_> {
(
families.get::<VarFamily<M0>>(names[0].clone()),
families.get::<VarFamily<M1>>(names[1].clone()),
families.get::<VarFamily<M2>>(names[2].clone()),
families.get::<VarFamily<M3>>(names[3].clone()),
families.get::<VarFamily<M4>>(names[4].clone()),
families.get::<VarFamily<M5>>(names[5].clone()),
families.get::<VarFamily<M6>>(names[6].clone()),
)
}

fn extract(family_tuple: &Self::VarFamilyTupleRef<'_>, ids: [usize; 7]) -> Self {
(
family_tuple.0.members[ids[0]].clone(),
family_tuple.1.members[ids[1]].clone(),
family_tuple.2.members[ids[2]].clone(),
family_tuple.3.members[ids[3]].clone(),
family_tuple.4.members[ids[4]].clone(),
family_tuple.5.members[ids[5]].clone(),
family_tuple.6.members[ids[6]].clone(),
)
}
}

impl<const N: usize> IsVariable for VecF64<N> {
const DOF: usize = N;

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