Initial commit

srcs/RobotNet10/RobotApp/Communication/CeresSharp/Native/SafeHandles/CovarianceHandle.cs

@@ -0,0 +1,43 @@
+using System;
+using CeresSharp.Native;
+
+namespace CeresSharp.Native.SafeHandles;
+
+/// <summary>
+/// Safe handle for Ceres Covariance.
+/// </summary>
+internal sealed class CovarianceHandle : BaseSafeHandle
+{
+    private CovarianceHandle() : base()
+    {
+    }
+
+    private CovarianceHandle(IntPtr handle, bool ownsHandle) : base(handle, ownsHandle)
+    {
+    }
+
+    public static CovarianceHandle Create()
+    {
+        var handle = CeresNative.ceres_wrapper_create_covariance();
+        if (handle == IntPtr.Zero)
+        {
+            throw new Exceptions.CeresException(Exceptions.CeresErrorCode.OutOfMemory, "Failed to create covariance");
+        }
+        return new CovarianceHandle(handle, true);
+    }
+
+    public static CovarianceHandle CreateWithOptions(IntPtr options)
+    {
+        var handle = CeresNative.ceres_wrapper_create_covariance_with_options(options);
+        if (handle == IntPtr.Zero)
+        {
+            throw new Exceptions.CeresException(Exceptions.CeresErrorCode.OutOfMemory, "Failed to create covariance with options");
+        }
+        return new CovarianceHandle(handle, true);
+    }
+
+    protected override void ReleaseNativeHandle(IntPtr handle)
+    {
+        CeresNative.ceres_wrapper_free_covariance(handle);
+    }
+}