[SymForce] Explicit instantiations for opt

A number of classes either didn't have explicit instantiation
declarations (but did have explicit instantiations) or any explicit
isntantiation at all.

To improve compilation speeds (in theory) I've added explicit instations
and declarations.

Classes which don't have explicit instations:
- LevenberMarquardtSolver
- OptimizationStats

Topic: more_explicit_instantiations_in_opt
GitOrigin-RevId: b6ba96ddc56dd5052a846bbb03c8f51495ca0ca6

symforce/opt/cholesky/sparse_cholesky_solver.h

@@ -157,3 +157,9 @@ class SparseCholeskySolver {
 // Include implementation, yay templates.
 #define SYM_SPARSE_CHOLESKY_SOLVER_H
 #include "./sparse_cholesky_solver.tcc"
+
+// Explicit template instantiation declarations
+extern template class sym::SparseCholeskySolver<Eigen::SparseMatrix<double>, Eigen::Upper>;
+extern template class sym::SparseCholeskySolver<Eigen::SparseMatrix<double>, Eigen::Lower>;
+extern template class sym::SparseCholeskySolver<Eigen::SparseMatrix<float>, Eigen::Upper>;
+extern template class sym::SparseCholeskySolver<Eigen::SparseMatrix<float>, Eigen::Lower>;

symforce/opt/factor.h

@@ -337,3 +337,7 @@ std::ostream& operator<<(std::ostream& os, const sym::linearized_sparse_factorf_
 
 // Template method implementations
 #include "./factor.tcc"
+
+// Explicit instantiation declarations
+extern template class sym::Factor<double>;
+extern template class sym::Factor<float>;

symforce/opt/gnc_optimizer.cc

@@ -0,0 +1,12 @@
+/* ----------------------------------------------------------------------------
+ * SymForce - Copyright 2022, Skydio, Inc.
+ * This source code is under the Apache 2.0 license found in the LICENSE file.
+ * ---------------------------------------------------------------------------- */
+
+#include "./gnc_optimizer.h"
+
+#include "./optimizer.h"
+
+// Explicit instantiation
+template class sym::GncOptimizer<sym::Optimizer<double>>;
+template class sym::GncOptimizer<sym::Optimizer<float>>;

symforce/opt/gnc_optimizer.h

@@ -124,3 +124,7 @@ class GncOptimizer : public BaseOptimizerType {
 };
 
 }  // namespace sym
+
+// Explicit instantiation declarations
+extern template class sym::GncOptimizer<sym::Optimizer<double>>;
+extern template class sym::GncOptimizer<sym::Optimizer<float>>;

symforce/opt/linearization.cc

@@ -0,0 +1,10 @@
+/* ----------------------------------------------------------------------------
+ * SymForce - Copyright 2022, Skydio, Inc.
+ * This source code is under the Apache 2.0 license found in the LICENSE file.
+ * ---------------------------------------------------------------------------- */
+
+#include "./linearization.h"
+
+// Explicit instantiation
+template struct sym::Linearization<double>;
+template struct sym::Linearization<float>;

symforce/opt/linearization.h

@@ -83,3 +83,7 @@ using Linearizationd = Linearization<double>;
 using Linearizationf = Linearization<float>;
 
 }  // namespace sym
+
+// Explicit instantiation declarations
+extern template struct sym::Linearization<double>;
+extern template struct sym::Linearization<float>;

symforce/opt/optimizer.h

@@ -300,3 +300,7 @@ optimizer_params_t DefaultOptimizerParams();
 }  // namespace sym
 
 #include "./optimizer.tcc"
+
+// Explicit instantiation declaration
+extern template class sym::Optimizer<double>;
+extern template class sym::Optimizer<float>;

symforce/opt/sparse_schur_solver.cc

@@ -0,0 +1,10 @@
+/* ----------------------------------------------------------------------------
+ * SymForce - Copyright 2022, Skydio, Inc.
+ * This source code is under the Apache 2.0 license found in the LICENSE file.
+ * ---------------------------------------------------------------------------- */
+
+#include "./sparse_schur_solver.h"
+
+// Explicit instantiation
+template class sym::SparseSchurSolver<Eigen::SparseMatrix<double>>;
+template class sym::SparseSchurSolver<Eigen::SparseMatrix<float>>;

symforce/opt/sparse_schur_solver.h

@@ -5,6 +5,9 @@
 
 #pragma once
 
+// Required by MetisSupport
+#include <iostream>
+
 #include <Eigen/Dense>
 #include <Eigen/MetisSupport>
 #include <Eigen/Sparse>
@@ -132,3 +135,7 @@ class SparseSchurSolver {
 }  // namespace sym
 
 #include "./sparse_schur_solver.tcc"
+
+// Explicit instantiation declaration
+extern template class sym::SparseSchurSolver<Eigen::SparseMatrix<double>>;
+extern template class sym::SparseSchurSolver<Eigen::SparseMatrix<float>>;

symforce/opt/values.h

@@ -275,3 +275,12 @@ std::ostream& operator<<(std::ostream& os, const Values<Scalar>& v);
 
 // Template method implementations
 #include "./values.tcc"
+
+// Explicit instantiation declarations
+extern template class sym::Values<double>;
+extern template class sym::Values<float>;
+
+extern template sym::Values<double> sym::Values<double>::Cast<double>() const;
+extern template sym::Values<float> sym::Values<double>::Cast<float>() const;
+extern template sym::Values<double> sym::Values<float>::Cast<double>() const;
+extern template sym::Values<float> sym::Values<float>::Cast<float>() const;