1 files changed, 29 insertions, 24 deletions

diff --git a/extern/ceres/internal/ceres/schur_eliminator.cc b/extern/ceres/internal/ceres/schur_eliminator.cc
index 613ae9558e9..22e7358070f 100644
--- a/extern/ceres/internal/ceres/schur_eliminator.cc
+++ b/extern/ceres/internal/ceres/schur_eliminator.cc
@@ -39,121 +39,126 @@
 //
 // This file is generated using generate_template_specializations.py.
 
+#include <memory>
+
 #include "ceres/linear_solver.h"
 #include "ceres/schur_eliminator.h"
 
 namespace ceres {
 namespace internal {
 
-SchurEliminatorBase* SchurEliminatorBase::Create(
+SchurEliminatorBase::~SchurEliminatorBase() = default;
+
+std::unique_ptr<SchurEliminatorBase> SchurEliminatorBase::Create(
     const LinearSolver::Options& options) {
 #ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 2) &&
      (options.f_block_size == 2)) {
-    return new SchurEliminator<2, 2, 2>(options);
+    return std::make_unique<SchurEliminator<2, 2, 2>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 2) &&
      (options.f_block_size == 3)) {
-    return new SchurEliminator<2, 2, 3>(options);
+    return std::make_unique<SchurEliminator<2, 2, 3>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 2) &&
      (options.f_block_size == 4)) {
-    return new SchurEliminator<2, 2, 4>(options);
+    return std::make_unique<SchurEliminator<2, 2, 4>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 2)) {
-    return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
+    return std::make_unique<SchurEliminator<2, 2, Eigen::Dynamic>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 3) &&
      (options.f_block_size == 3)) {
-    return new SchurEliminator<2, 3, 3>(options);
+    return std::make_unique<SchurEliminator<2, 3, 3>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 3) &&
      (options.f_block_size == 4)) {
-    return new SchurEliminator<2, 3, 4>(options);
+    return std::make_unique<SchurEliminator<2, 3, 4>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 3) &&
      (options.f_block_size == 6)) {
-    return new SchurEliminator<2, 3, 6>(options);
+    return std::make_unique<SchurEliminator<2, 3, 6>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 3) &&
      (options.f_block_size == 9)) {
-    return new SchurEliminator<2, 3, 9>(options);
+    return std::make_unique<SchurEliminator<2, 3, 9>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 3)) {
-    return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
+    return std::make_unique<SchurEliminator<2, 3, Eigen::Dynamic>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 3)) {
-    return new SchurEliminator<2, 4, 3>(options);
+    return std::make_unique<SchurEliminator<2, 4, 3>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 4)) {
-    return new SchurEliminator<2, 4, 4>(options);
+    return std::make_unique<SchurEliminator<2, 4, 4>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 6)) {
-    return new SchurEliminator<2, 4, 6>(options);
+    return std::make_unique<SchurEliminator<2, 4, 6>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 8)) {
-    return new SchurEliminator<2, 4, 8>(options);
+    return std::make_unique<SchurEliminator<2, 4, 8>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 9)) {
-    return new SchurEliminator<2, 4, 9>(options);
+    return std::make_unique<SchurEliminator<2, 4, 9>>(options);
   }
   if ((options.row_block_size == 2) &&
      (options.e_block_size == 4)) {
-    return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
+    return std::make_unique<SchurEliminator<2, 4, Eigen::Dynamic>>(options);
   }
   if (options.row_block_size == 2) {
-    return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
+    return std::make_unique<SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>>(options);
   }
   if ((options.row_block_size == 3) &&
      (options.e_block_size == 3) &&
      (options.f_block_size == 3)) {
-    return new SchurEliminator<3, 3, 3>(options);
+    return std::make_unique<SchurEliminator<3, 3, 3>>(options);
   }
   if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 2)) {
-    return new SchurEliminator<4, 4, 2>(options);
+    return std::make_unique<SchurEliminator<4, 4, 2>>(options);
   }
   if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 3)) {
-    return new SchurEliminator<4, 4, 3>(options);
+    return std::make_unique<SchurEliminator<4, 4, 3>>(options);
   }
   if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 4)) {
-    return new SchurEliminator<4, 4, 4>(options);
+    return std::make_unique<SchurEliminator<4, 4, 4>>(options);
   }
   if ((options.row_block_size == 4) &&
      (options.e_block_size == 4)) {
-    return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
+    return std::make_unique<SchurEliminator<4, 4, Eigen::Dynamic>>(options);
   }
 
 #endif
   VLOG(1) << "Template specializations not found for <"
           << options.row_block_size << "," << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
-      options);
+  return std::make_unique<SchurEliminator<Eigen::Dynamic,
+                                          Eigen::Dynamic,
+                                          Eigen::Dynamic>>(options);
 }
 
 }  // namespace internal