From f5356d8989642d7b622b6cd066614c4652a979ec Mon Sep 17 00:00:00 2001
From: Bradley Solliday <bradley.solliday@skydio.com>
Date: Fri, 7 Apr 2023 04:53:05 +0000
Subject: [PATCH] [SymForce] Rename opt/cholesky opt/sparse_cholesky

This is because a dense cholesky solver is being added but don't want to
put it in the same directory because of the special license restrictions
of the sparse cholesky solver.

Topic: rename_opt_cholesky
GitOrigin-RevId: b629bfc820bd0d729636cacdb33513a26a8fa685
---
 LICENSE                                                     | 6 +++---
 symforce/opt/CMakeLists.txt                                 | 4 ++--
 symforce/opt/levenberg_marquardt_solver.h                   | 2 +-
 symforce/opt/{cholesky => sparse_cholesky}/LICENSE          | 0
 .../{cholesky => sparse_cholesky}/sparse_cholesky_solver.cc | 0
 .../{cholesky => sparse_cholesky}/sparse_cholesky_solver.h  | 0
 .../sparse_cholesky_solver.tcc                              | 0
 symforce/opt/sparse_schur_solver.h                          | 2 +-
 test/sparse_cholesky_solver_test.cc                         | 2 +-
 test/sparse_schur_solver_test.cc                            | 2 +-
 10 files changed, 9 insertions(+), 9 deletions(-)
 rename symforce/opt/{cholesky => sparse_cholesky}/LICENSE (100%)
 rename symforce/opt/{cholesky => sparse_cholesky}/sparse_cholesky_solver.cc (100%)
 rename symforce/opt/{cholesky => sparse_cholesky}/sparse_cholesky_solver.h (100%)
 rename symforce/opt/{cholesky => sparse_cholesky}/sparse_cholesky_solver.tcc (100%)

diff --git a/LICENSE b/LICENSE
index c2899b900..767ba7770 100644
--- a/LICENSE
+++ b/LICENSE
@@ -200,12 +200,12 @@
    See the License for the specific language governing permissions and
    limitations under the License.
 
-# symforce/opt/cholesky
+# symforce/opt/sparse_cholesky
 
-Code in symforce/opt/cholesky is adapted from LDL/SuiteSparse and its
+Code in symforce/opt/sparse_cholesky is adapted from LDL/SuiteSparse and its
 corresponding implementation in the SparseCholesky module of the Eigen library,
 and is licensed under the MPL2 license as described in
-symforce/opt/cholesky/LICENSE
+symforce/opt/sparse_cholesky/LICENSE
 
 # Third Party Code
 
diff --git a/symforce/opt/CMakeLists.txt b/symforce/opt/CMakeLists.txt
index dea4bb0a1..b3789036f 100644
--- a/symforce/opt/CMakeLists.txt
+++ b/symforce/opt/CMakeLists.txt
@@ -114,8 +114,8 @@ add_metis()
 # ------------------------------------------------------------------------------
 # symforce_cholesky
 
-file(GLOB SYMFORCE_CHOLESKY_SOURCES CONFIGURE_DEPENDS cholesky/*.cc)
-file(GLOB SYMFORCE_CHOLESKY_HEADERS CONFIGURE_DEPENDS cholesky/*.h cholesky/*.tcc)
+file(GLOB SYMFORCE_CHOLESKY_SOURCES CONFIGURE_DEPENDS sparse_cholesky/*.cc)
+file(GLOB SYMFORCE_CHOLESKY_HEADERS CONFIGURE_DEPENDS sparse_cholesky/*.h sparse_cholesky/*.tcc)
 add_library(
   symforce_cholesky
   ${SYMFORCE_LIBRARY_TYPE}
diff --git a/symforce/opt/levenberg_marquardt_solver.h b/symforce/opt/levenberg_marquardt_solver.h
index a6b419e5c..4f723a262 100644
--- a/symforce/opt/levenberg_marquardt_solver.h
+++ b/symforce/opt/levenberg_marquardt_solver.h
@@ -11,10 +11,10 @@
 #include <lcmtypes/sym/optimization_stats_t.hpp>
 #include <lcmtypes/sym/optimizer_params_t.hpp>
 
-#include "./cholesky/sparse_cholesky_solver.h"
 #include "./internal/levenberg_marquardt_state.h"
 #include "./linearization.h"
 #include "./optimization_stats.h"
+#include "./sparse_cholesky/sparse_cholesky_solver.h"
 #include "./tic_toc.h"
 #include "./values.h"
 
diff --git a/symforce/opt/cholesky/LICENSE b/symforce/opt/sparse_cholesky/LICENSE
similarity index 100%
rename from symforce/opt/cholesky/LICENSE
rename to symforce/opt/sparse_cholesky/LICENSE
diff --git a/symforce/opt/cholesky/sparse_cholesky_solver.cc b/symforce/opt/sparse_cholesky/sparse_cholesky_solver.cc
similarity index 100%
rename from symforce/opt/cholesky/sparse_cholesky_solver.cc
rename to symforce/opt/sparse_cholesky/sparse_cholesky_solver.cc
diff --git a/symforce/opt/cholesky/sparse_cholesky_solver.h b/symforce/opt/sparse_cholesky/sparse_cholesky_solver.h
similarity index 100%
rename from symforce/opt/cholesky/sparse_cholesky_solver.h
rename to symforce/opt/sparse_cholesky/sparse_cholesky_solver.h
diff --git a/symforce/opt/cholesky/sparse_cholesky_solver.tcc b/symforce/opt/sparse_cholesky/sparse_cholesky_solver.tcc
similarity index 100%
rename from symforce/opt/cholesky/sparse_cholesky_solver.tcc
rename to symforce/opt/sparse_cholesky/sparse_cholesky_solver.tcc
diff --git a/symforce/opt/sparse_schur_solver.h b/symforce/opt/sparse_schur_solver.h
index 7725b862c..0bb815b52 100644
--- a/symforce/opt/sparse_schur_solver.h
+++ b/symforce/opt/sparse_schur_solver.h
@@ -12,7 +12,7 @@
 #include <Eigen/MetisSupport>
 #include <Eigen/Sparse>
 
-#include "./cholesky/sparse_cholesky_solver.h"
+#include "./sparse_cholesky/sparse_cholesky_solver.h"
 
 namespace sym {
 
diff --git a/test/sparse_cholesky_solver_test.cc b/test/sparse_cholesky_solver_test.cc
index 19f3fd675..6a24adae2 100644
--- a/test/sparse_cholesky_solver_test.cc
+++ b/test/sparse_cholesky_solver_test.cc
@@ -16,7 +16,7 @@
 #include <catch2/catch_test_macros.hpp>
 
 #include <sym/ops/storage_ops.h>
-#include <symforce/opt/cholesky/sparse_cholesky_solver.h>
+#include <symforce/opt/sparse_cholesky/sparse_cholesky_solver.h>
 #include <symforce/opt/tic_toc.h>
 
 using SparseMatrix = Eigen::SparseMatrix<double>;
diff --git a/test/sparse_schur_solver_test.cc b/test/sparse_schur_solver_test.cc
index 6cc72b50f..edc8c491a 100644
--- a/test/sparse_schur_solver_test.cc
+++ b/test/sparse_schur_solver_test.cc
@@ -20,7 +20,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <spdlog/spdlog.h>
 
-#include <symforce/opt/cholesky/sparse_cholesky_solver.h>
+#include <symforce/opt/sparse_cholesky/sparse_cholesky_solver.h>
 #include <symforce/opt/sparse_schur_solver.h>
 #include <symforce/opt/tic_toc.h>