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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// Author: mierle@gmail.com (Keir Mierle)
#ifndef CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_
#define CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_
namespace ceres {
template <typename T>
bool EvaluateResidualsAndJacobians(const T* parameters,
T* residuals,
T* jacobian) {
T x = parameters[0];
T y = parameters[1];
T z = parameters[2];
residuals[0] = x + static_cast<T>(2) * y + static_cast<T>(4) * z;
residuals[1] = y * z;
if (jacobian) {
jacobian[0 * 2 + 0] = static_cast<T>(1);
jacobian[0 * 2 + 1] = static_cast<T>(0);
jacobian[1 * 2 + 0] = static_cast<T>(2);
jacobian[1 * 2 + 1] = z;
jacobian[2 * 2 + 0] = static_cast<T>(4);
jacobian[2 * 2 + 1] = y;
}
return true;
}
} // namespace ceres
#endif // CERES_INTERNAL_TINY_SOLVER_TEST_UTIL_H_