// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2020 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: darius.rueckert@fau.de (Darius Rueckert)
//
//
#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARKS_LINEAR_COST_FUNCTIONS_H_
#define CERES_INTERNAL_AUTODIFF_BENCHMARKS_LINEAR_COST_FUNCTIONS_H_

#include "ceres/codegen/codegen_cost_function.h"
#include "ceres/rotation.h"

namespace ceres {

struct Linear1CostFunction : public ceres::CodegenCostFunction<1, 1> {
  template <typename T>
  bool operator()(const T* const x, T* residuals) const {
    residuals[0] = x[0] + T(10);
    return true;
  }
#ifdef WITH_CODE_GENERATION
#include "benchmarks/linear1costfunction.h"
#else
  virtual bool Evaluate(double const* const* parameters,
                        double* residuals,
                        double** jacobians) const {
    return false;
  }
#endif
};

struct Linear10CostFunction : public ceres::CodegenCostFunction<10, 10> {
  template <typename T>
  bool operator()(const T* const x, T* residuals) const {
    for (int i = 0; i < 10; ++i) {
      residuals[i] = x[i] + T(i);
    }
    return true;
  }
#ifdef WITH_CODE_GENERATION
#include "benchmarks/linear10costfunction.h"
#else
  virtual bool Evaluate(double const* const* parameters,
                        double* residuals,
                        double** jacobians) const {
    return false;
  }
#endif
};
}  // namespace ceres

#endif  // CERES_INTERNAL_AUTODIFF_BENCHMARKS_LINEAR_COST_FUNCTIONS_H_