Initial commit

srcs/RobotNet10/RobotApp/Communication/CeresSharp/Advanced/CovarianceOptions.cs

@@ -0,0 +1,91 @@
+using System;
+using CeresSharp.Enums;
+using CeresSharp.Native;
+using CeresSharp.Native.SafeHandles;
+
+namespace CeresSharp.Advanced;
+
+/// <summary>
+/// Options for covariance estimation.
+/// </summary>
+public sealed class CovarianceOptions : IDisposable
+{
+    private readonly CovarianceOptionsHandle _handle;
+    private bool _disposed;
+
+    /// <summary>
+    /// Creates a new CovarianceOptions instance with default settings.
+    /// </summary>
+    public CovarianceOptions()
+    {
+        _handle = CovarianceOptionsHandle.Create();
+    }
+
+    /// <summary>
+    /// Gets the native handle.
+    /// </summary>
+    internal CovarianceOptionsHandle Handle => _handle;
+
+    /// <summary>
+    /// Gets or sets the number of threads to use.
+    /// </summary>
+    public int NumThreads
+    {
+        get => CeresNative.ceres_wrapper_covariance_options_get_num_threads(_handle.DangerousGetHandle());
+        set => CeresNative.ceres_wrapper_covariance_options_set_num_threads(_handle.DangerousGetHandle(), value);
+    }
+
+    /// <summary>
+    /// Gets or sets the sparse linear algebra library type.
+    /// </summary>
+    public SparseLinearAlgebraLibraryType SparseLinearAlgebraLibraryType
+    {
+        get => (SparseLinearAlgebraLibraryType)CeresNative.ceres_wrapper_covariance_options_get_sparse_linear_algebra_library_type(_handle.DangerousGetHandle());
+        set => CeresNative.ceres_wrapper_covariance_options_set_sparse_linear_algebra_library_type(_handle.DangerousGetHandle(), (int)value);
+    }
+
+    /// <summary>
+    /// Gets or sets the algorithm type.
+    /// </summary>
+    public CovarianceAlgorithmType AlgorithmType
+    {
+        get => (CovarianceAlgorithmType)CeresNative.ceres_wrapper_covariance_options_get_algorithm_type(_handle.DangerousGetHandle());
+        set => CeresNative.ceres_wrapper_covariance_options_set_algorithm_type(_handle.DangerousGetHandle(), (int)value);
+    }
+
+    /// <summary>
+    /// Gets or sets the minimum reciprocal condition number.
+    /// </summary>
+    public double MinReciprocalConditionNumber
+    {
+        get => CeresNative.ceres_wrapper_covariance_options_get_min_reciprocal_condition_number(_handle.DangerousGetHandle());
+        set => CeresNative.ceres_wrapper_covariance_options_set_min_reciprocal_condition_number(_handle.DangerousGetHandle(), value);
+    }
+
+    /// <summary>
+    /// Gets or sets the null space rank.
+    /// </summary>
+    public int NullSpaceRank
+    {
+        get => CeresNative.ceres_wrapper_covariance_options_get_null_space_rank(_handle.DangerousGetHandle());
+        set => CeresNative.ceres_wrapper_covariance_options_set_null_space_rank(_handle.DangerousGetHandle(), value);
+    }
+
+    /// <summary>
+    /// Gets or sets whether to apply loss function.
+    /// </summary>
+    public bool ApplyLossFunction
+    {
+        get => CeresNative.ceres_wrapper_covariance_options_get_apply_loss_function(_handle.DangerousGetHandle()) != 0;
+        set => CeresNative.ceres_wrapper_covariance_options_set_apply_loss_function(_handle.DangerousGetHandle(), value ? 1 : 0);
+    }
+
+    public void Dispose()
+    {
+        if (!_disposed)
+        {
+            _handle?.Dispose();
+            _disposed = true;
+        }
+    }
+}