Google Git
Sign in
ceres-solver/ceres-solver/87c406d9d024ad7276237a750262a65af8bff66a
commit
87c406d9d024ad7276237a750262a65af8bff66a
[log] [tgz]
author
Sameer Agarwal <sameeragarwal@google.com>
Mon Mar 23 11:42:24 2026 -0700
committer
Sameer Agarwal <sameeragarwal@google.com>
Mon Mar 23 11:42:24 2026 -0700
tree
cad7cf9e9b8474a9c6ceb6c322e7c0b7b119383a
parent
2f946a582ae4a9e7ee0492030ec12d9b1f3dbade [diff]
Modernize InvertPSDMatrix with if constexpr

Use if constexpr for kSize checks in InvertPSDMatrix to allow for
dead-code elimination at compile time. This ensures that for small
fixed-size matrices, only the inverse() path is compiled, and for
larger or dynamic matrices, only the LLT path is compiled when
assume_full_rank is true.

Change-Id: I4def2faadd080a4defccf1c0527015ae004f20ce
1 file changed
tree: cad7cf9e9b8474a9c6ceb6c322e7c0b7b119383a
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. third_party/
  12. .clang-format
  13. .gitignore
  14. .gitmodules
  15. .readthedocs.yaml
  16. BUILD
  17. CITATION.cff
  18. CMakeLists.txt
  19. CONTRIBUTING.md
  20. LICENSE
  21. MODULE.bazel
  22. package.xml
  23. README.md
  24. WORKSPACE
README.md

Android Linux macOS Windows

Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.