diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index 161187026..738b43104 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -370,7 +370,8 @@ if (BUILD_TESTING AND GFLAGS)
   add_library(test_util
               evaluator_test_utils.cc
               numeric_diff_test_utils.cc
-              test_util.cc)
+              test_util.cc
+              codegen/test_utils.cc)
   target_include_directories(test_util PUBLIC ${Ceres_SOURCE_DIR}/internal)
 
   if (MINIGLOG)
@@ -499,10 +500,6 @@ if (BUILD_TESTING AND GFLAGS)
 
   add_subdirectory(generated_bundle_adjustment_tests)
 
-  if(CODE_GENERATION)
-    add_subdirectory(codegen)
-  endif()
-
 endif (BUILD_TESTING AND GFLAGS)
 
 macro(add_dependencies_to_benchmark BENCHMARK_TARGET)
@@ -528,3 +525,8 @@ if (BUILD_BENCHMARKS)
   add_executable(schur_eliminator_benchmark schur_eliminator_benchmark.cc)
   add_dependencies_to_benchmark(schur_eliminator_benchmark)
 endif (BUILD_BENCHMARKS)
+
+if(CODE_GENERATION)
+  add_subdirectory(codegen)
+endif()
+
diff --git a/internal/ceres/codegen/CMakeLists.txt b/internal/ceres/codegen/CMakeLists.txt
index db21f9c3b..4bea21ff4 100644
--- a/internal/ceres/codegen/CMakeLists.txt
+++ b/internal/ceres/codegen/CMakeLists.txt
@@ -38,7 +38,8 @@
 #
 # The semantic tests, which check the correctness by executing the generated code
 # are still run on all platforms.
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+if (BUILD_TESTING AND GFLAGS)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     set(CXX_FLAGS_OLD ${CMAKE_CXX_FLAGS})
     # From the man page:
     #   The C++ standard allows an implementation to omit creating a
@@ -49,10 +50,41 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     # gcc and different optimization levels. Without this flag, testing would
     # be very painfull and might break when a new compiler version is released.
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-elide-constructors")
-    ceres_test(expression)
-    ceres_test(expression_graph)
     ceres_test(expression_ref)
     ceres_test(code_generator)
     ceres_test(eliminate_nops)
     set(CMAKE_CXX_FLAGS ${CXX_FLAGS_OLD})
+  endif()
+
+  ceres_test(expression)
+  ceres_test(expression_graph)
+
+  macro (generate_test_functor FUNCTOR_NAME FUNCTOR_FILE)
+    ceres_generate_cost_function_implementation_for_functor(
+      NAME ${FUNCTOR_NAME}
+      INPUT_FILE ${FUNCTOR_FILE}
+      OUTPUT_DIRECTORY tests
+      NAMESPACE test
+      )
+  endmacro()
+
+  # Semantic tests should work on every platform
+  include(CeresCodeGeneration)
+
+
+  generate_test_functor(InputOutputAssignment autodiff_codegen_test.h)
+  generate_test_functor(CompileTimeConstants autodiff_codegen_test.h)
+  generate_test_functor(Assignments autodiff_codegen_test.h)
+  generate_test_functor(BinaryArithmetic autodiff_codegen_test.h)
+  generate_test_functor(UnaryArithmetic autodiff_codegen_test.h)
+  generate_test_functor(BinaryComparison autodiff_codegen_test.h)
+  generate_test_functor(LogicalOperators autodiff_codegen_test.h)
+  generate_test_functor(ScalarFunctions autodiff_codegen_test.h)
+  generate_test_functor(LogicalFunctions autodiff_codegen_test.h)
+  generate_test_functor(Branches autodiff_codegen_test.h)
+  ceres_test(autodiff_codegen)
+  target_link_libraries(autodiff_codegen_test PUBLIC
+    InputOutputAssignment CompileTimeConstants Assignments BinaryArithmetic
+    UnaryArithmetic BinaryComparison LogicalOperators ScalarFunctions
+    LogicalFunctions Branches)
 endif()
diff --git a/internal/ceres/codegen/autodiff_codegen_test.cc b/internal/ceres/codegen/autodiff_codegen_test.cc
new file mode 100644
index 000000000..c6c5cbcc1
--- /dev/null
+++ b/internal/ceres/codegen/autodiff_codegen_test.cc
@@ -0,0 +1,117 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+//
+// This file tests the Expression class. For each member function one test is
+// included here.
+//
+#include "autodiff_codegen_test.h"
+
+#include "ceres/autodiff_cost_function.h"
+#include "codegen/test_utils.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class AutoDiffCodegenTest : public testing::TestWithParam<double> {
+ public:
+  template <typename CostFunctionType, int kNumResiduals, int... Ns>
+  void TestCostFunction() {
+    using CostFunctorType = CostFunctionToFunctor<CostFunctionType>;
+    CostFunctionType generated_cost_function;
+    CostFunctorType cost_functor;
+    auto* cost_function_ad =
+        new AutoDiffCostFunction<CostFunctorType, kNumResiduals, Ns...>(
+            &cost_functor);
+    auto value = GetParam();
+    CompareCostFunctions(&generated_cost_function,
+                         cost_function_ad,
+                         value,
+                         kRelativeErrorThreshold);
+  }
+  static constexpr double kRelativeErrorThreshold = 0;
+};
+
+TEST_P(AutoDiffCodegenTest, InputOutputAssignment) {
+  TestCostFunction<test::InputOutputAssignment, 7, 4, 2, 1>();
+}
+
+TEST_P(AutoDiffCodegenTest, CompileTimeConstants) {
+  TestCostFunction<test::CompileTimeConstants, 7, 1>();
+}
+
+TEST_P(AutoDiffCodegenTest, Assignments) {
+  TestCostFunction<test::Assignments, 8, 2>();
+}
+
+TEST_P(AutoDiffCodegenTest, BinaryArithmetic) {
+  TestCostFunction<test::BinaryArithmetic, 9, 2>();
+}
+
+TEST_P(AutoDiffCodegenTest, UnaryArithmetic) {
+  TestCostFunction<test::UnaryArithmetic, 3, 1>();
+}
+
+TEST_P(AutoDiffCodegenTest, BinaryComparison) {
+  TestCostFunction<test::BinaryComparison, 12, 2>();
+}
+
+TEST_P(AutoDiffCodegenTest, LogicalOperators) {
+  TestCostFunction<test::LogicalOperators, 8, 3>();
+}
+
+TEST_P(AutoDiffCodegenTest, ScalarFunctions) {
+  TestCostFunction<test::ScalarFunctions, 20, 22>();
+}
+
+TEST_P(AutoDiffCodegenTest, LogicalFunctions) {
+  TestCostFunction<test::LogicalFunctions, 4, 4>();
+}
+
+TEST_P(AutoDiffCodegenTest, Branches) {
+  TestCostFunction<test::Branches, 4, 3>();
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    AutoDiffCodegenTest,
+    AutoDiffCodegenTest,
+    testing::Values(0,
+                    -1,
+                    1,
+                    0.5,
+                    -0.5,
+                    10,
+                    -10,
+                    1e20,
+                    1e-20,
+                    std::numeric_limits<double>::infinity(),
+                    std::numeric_limits<double>::quiet_NaN()));
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/codegen/autodiff_codegen_test.h b/internal/ceres/codegen/autodiff_codegen_test.h
new file mode 100644
index 000000000..f5a9f447c
--- /dev/null
+++ b/internal/ceres/codegen/autodiff_codegen_test.h
@@ -0,0 +1,358 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+//
+// This file includes unit test functors for every supported expression type.
+// This is similar to expression_ref_test and codegeneration_test, but for the
+// complete pipeline including automatic differentation. For each of the structs
+// below, the Evaluate function is generated using GenerateCodeForFunctor. After
+// that this function is executed with random parameters. The result of the
+// residuals and jacobians is then compared to AutoDiff (without code
+// generation). Of course, the correctness of this module depends on the
+// correctness of autodiff.
+//
+#include <cmath>
+#include <limits>
+
+#include "ceres/codegen/codegen_cost_function.h"
+namespace test {
+
+struct InputOutputAssignment : public ceres::CodegenCostFunction<7, 4, 2, 1> {
+  template <typename T>
+  bool operator()(const T* x0, const T* x1, const T* x2, T* y) const {
+    y[0] = x0[0];
+    y[1] = x0[1];
+    y[2] = x0[2];
+    y[3] = x0[3];
+
+    y[4] = x1[0];
+    y[5] = x1[1];
+
+    y[6] = x2[0];
+    return true;
+  }
+#include "tests/inputoutputassignment.h"
+};
+
+struct CompileTimeConstants : public ceres::CodegenCostFunction<7, 1> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    y[0] = T(0);
+    y[1] = T(1);
+    y[2] = T(-1);
+    y[3] = T(1e-10);
+    y[4] = T(1e10);
+    y[5] = T(std::numeric_limits<double>::infinity());
+    y[6] = T(std::numeric_limits<double>::quiet_NaN());
+
+    return true;
+  }
+#include "tests/compiletimeconstants.h"
+};
+
+struct Assignments : public ceres::CodegenCostFunction<8, 2> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    T b = x0[1];
+    y[0] = a;
+    y[1] = b;
+    y[2] = y[3] = a;
+
+    T c = a;
+    y[4] = c;
+
+    T d(b);
+    y[5] = d;
+
+    y[6] = std::move(c);
+
+    y[7] = std::move(T(T(std::move(T(a)))));
+    return true;
+  }
+#include "tests/assignments.h"
+};
+
+struct BinaryArithmetic : public ceres::CodegenCostFunction<9, 2> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    T b = x0[1];
+    y[0] = a + b;
+    y[1] = a - b;
+    y[2] = a * b;
+    y[3] = a / b;
+
+    y[4] = a;
+    y[4] += b;
+    y[5] = a;
+    y[5] -= b;
+    y[6] = a;
+    y[6] *= b;
+    y[7] = a;
+    y[7] /= b;
+
+    y[8] = a + b * a / a - b + b / a;
+    return true;
+  }
+#include "tests/binaryarithmetic.h"
+};
+
+struct UnaryArithmetic : public ceres::CodegenCostFunction<3, 1> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    y[0] = -a;
+    y[1] = +a;
+    y[2] = a;
+    return true;
+  }
+#include "tests/unaryarithmetic.h"
+};
+
+struct BinaryComparison : public ceres::CodegenCostFunction<12, 2> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    T b = x0[1];
+
+    // For each operator we swap the inputs so both branches are evaluated once.
+    CERES_IF(a < b) { y[0] = T(0); }
+    CERES_ELSE { y[0] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b < a) { y[1] = T(0); }
+    CERES_ELSE { y[1] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(a > b) { y[2] = T(0); }
+    CERES_ELSE { y[2] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b > a) { y[3] = T(0); }
+    CERES_ELSE { y[3] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(a <= b) { y[4] = T(0); }
+    CERES_ELSE { y[4] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b <= a) { y[5] = T(0); }
+    CERES_ELSE { y[5] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(a >= b) { y[6] = T(0); }
+    CERES_ELSE { y[6] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b >= a) { y[7] = T(0); }
+    CERES_ELSE { y[7] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(a == b) { y[8] = T(0); }
+    CERES_ELSE { y[8] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b == a) { y[9] = T(0); }
+    CERES_ELSE { y[9] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(a != b) { y[10] = T(0); }
+    CERES_ELSE { y[10] = T(1); }
+    CERES_ENDIF
+    CERES_IF(b != a) { y[11] = T(0); }
+    CERES_ELSE { y[11] = T(1); }
+    CERES_ENDIF
+
+    return true;
+  }
+#include "tests/binarycomparison.h"
+};
+
+struct LogicalOperators : public ceres::CodegenCostFunction<8, 3> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    T b = x0[1];
+    T c = x0[2];
+    auto r1 = a < b;
+    auto r2 = a < c;
+
+    CERES_IF(r1) { y[0] = T(0); }
+    CERES_ELSE { y[0] = T(1); }
+    CERES_ENDIF
+    CERES_IF(r2) { y[1] = T(0); }
+    CERES_ELSE { y[1] = T(1); }
+    CERES_ENDIF
+    CERES_IF(!r1) { y[2] = T(0); }
+    CERES_ELSE { y[2] = T(1); }
+    CERES_ENDIF
+    CERES_IF(!r2) { y[3] = T(0); }
+    CERES_ELSE { y[3] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(r1 && r2) { y[4] = T(0); }
+    CERES_ELSE { y[4] = T(1); }
+    CERES_ENDIF
+    CERES_IF(!r1 && !r2) { y[5] = T(0); }
+    CERES_ELSE { y[5] = T(1); }
+    CERES_ENDIF
+
+    CERES_IF(r1 || r2) { y[6] = T(0); }
+    CERES_ELSE { y[6] = T(1); }
+    CERES_ENDIF
+    CERES_IF(!r1 || !r2) { y[7] = T(0); }
+    CERES_ELSE { y[7] = T(1); }
+    CERES_ENDIF
+
+    return true;
+  }
+#include "tests/logicaloperators.h"
+};
+
+struct ScalarFunctions : public ceres::CodegenCostFunction<20, 22> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    y[0] = abs(x0[0]);
+    y[1] = acos(x0[1]);
+    y[2] = asin(x0[2]);
+    y[3] = atan(x0[3]);
+    y[4] = cbrt(x0[4]);
+    y[5] = ceil(x0[5]);
+    y[6] = cos(x0[6]);
+    y[7] = cosh(x0[7]);
+    y[8] = exp(x0[8]);
+    y[9] = exp2(x0[9]);
+    y[10] = floor(x0[10]);
+    y[11] = log(x0[11]);
+    y[12] = log2(x0[12]);
+    y[13] = sin(x0[13]);
+    y[14] = sinh(x0[14]);
+    y[15] = sqrt(x0[15]);
+    y[16] = tan(x0[16]);
+    y[17] = tanh(x0[17]);
+    y[18] = atan2(x0[18], x0[19]);
+    y[19] = pow(x0[20], x0[21]);
+    return true;
+  }
+#include "tests/scalarfunctions.h"
+};
+
+struct LogicalFunctions : public ceres::CodegenCostFunction<4, 4> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    using std::isfinite;
+    using std::isinf;
+    using std::isnan;
+    using std::isnormal;
+    T a = x0[0];
+    auto r1 = isfinite(a);
+    auto r2 = isinf(a);
+    auto r3 = isnan(a);
+    auto r4 = isnormal(a);
+
+    CERES_IF(r1) { y[0] = T(0); }
+    CERES_ELSE { y[0] = T(1); }
+    CERES_ENDIF
+    CERES_IF(r2) { y[1] = T(0); }
+    CERES_ELSE { y[1] = T(1); }
+    CERES_ENDIF
+    CERES_IF(r3) { y[2] = T(0); }
+    CERES_ELSE { y[2] = T(1); }
+    CERES_ENDIF
+    CERES_IF(r4) { y[3] = T(0); }
+    CERES_ELSE { y[3] = T(1); }
+    CERES_ENDIF
+
+    return true;
+  }
+#include "tests/logicalfunctions.h"
+};
+
+struct Branches : public ceres::CodegenCostFunction<4, 3> {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    T a = x0[0];
+    T b = x0[1];
+    T c = x0[2];
+    auto r1 = a < b;
+    auto r2 = a < c;
+    auto r3 = b < c;
+
+    // If without else
+    y[0] = T(0);
+    CERES_IF(r1) { y[0] += T(1); }
+    CERES_ENDIF
+
+    // If else
+    y[1] = T(0);
+    CERES_IF(r1) { y[1] += T(-1); }
+    CERES_ELSE { y[1] += T(1); }
+    CERES_ENDIF
+
+    // Nested if
+    y[2] = T(0);
+    CERES_IF(r1) {
+      y[2] += T(1);
+      CERES_IF(r2) {
+        y[2] += T(4);
+        CERES_IF(r2) { y[2] += T(8); }
+        CERES_ENDIF
+      }
+      CERES_ENDIF
+    }
+    CERES_ENDIF
+
+    // Nested if-else
+    y[3] = T(0);
+    CERES_IF(r1) {
+      y[3] += T(1);
+      CERES_IF(r2) {
+        y[3] += T(2);
+        CERES_IF(r3) { y[3] += T(4); }
+        CERES_ELSE { y[3] += T(8); }
+        CERES_ENDIF
+      }
+      CERES_ELSE {
+        y[3] += T(16);
+        CERES_IF(r3) { y[3] += T(32); }
+        CERES_ELSE { y[3] += T(64); }
+        CERES_ENDIF
+      }
+      CERES_ENDIF
+    }
+    CERES_ELSE {
+      y[3] += T(128);
+      CERES_IF(r2) { y[3] += T(256); }
+      CERES_ELSE { y[3] += T(512); }
+      CERES_ENDIF
+    }
+    CERES_ENDIF
+
+    return true;
+  }
+#include "tests/branches.h"
+};
+
+}  // namespace test
diff --git a/internal/ceres/codegen/test_utils.cc b/internal/ceres/codegen/test_utils.cc
new file mode 100644
index 000000000..c34e77355
--- /dev/null
+++ b/internal/ceres/codegen/test_utils.cc
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+
+#include "codegen/test_utils.h"
+
+namespace ceres {
+namespace internal {
+
+std::pair<std::vector<double>, std::vector<double> > EvaluateCostFunction(
+    CostFunction* cost_function, double value) {
+  auto num_residuals = cost_function->num_residuals();
+  auto parameter_block_sizes = cost_function->parameter_block_sizes();
+  auto num_parameter_blocks = parameter_block_sizes.size();
+
+  int total_num_parameters = 0;
+  for (auto block_size : parameter_block_sizes) {
+    total_num_parameters += block_size;
+  }
+
+  std::vector<double> params_array(total_num_parameters, value);
+  std::vector<double*> params(num_parameter_blocks);
+  std::vector<double> residuals(num_residuals, 0);
+  std::vector<double> jacobians_array(num_residuals * total_num_parameters, 0);
+  std::vector<double*> jacobians(num_parameter_blocks);
+
+  for (int i = 0, k = 0; i < num_parameter_blocks;
+       k += parameter_block_sizes[i], ++i) {
+    params[i] = &params_array[k];
+  }
+
+  for (int i = 0, k = 0; i < num_parameter_blocks;
+       k += parameter_block_sizes[i], ++i) {
+    jacobians[i] = &jacobians_array[k * num_residuals];
+  }
+
+  cost_function->Evaluate(params.data(), residuals.data(), jacobians.data());
+
+  return std::make_pair(residuals, jacobians_array);
+}
+
+void CompareCostFunctions(CostFunction* cost_function1,
+                          CostFunction* cost_function2,
+
+                          double value,
+                          double tol) {
+  auto residuals_and_jacobians_1 = EvaluateCostFunction(cost_function1, value);
+  auto residuals_and_jacobians_2 = EvaluateCostFunction(cost_function2, value);
+
+  ExpectArraysClose(residuals_and_jacobians_1.first.size(),
+                    residuals_and_jacobians_1.first.data(),
+                    residuals_and_jacobians_2.first.data(),
+                    tol);
+  ExpectArraysClose(residuals_and_jacobians_1.second.size(),
+                    residuals_and_jacobians_1.second.data(),
+                    residuals_and_jacobians_2.second.data(),
+                    tol);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/codegen/test_utils.h b/internal/ceres/codegen/test_utils.h
new file mode 100644
index 000000000..0a2792727
--- /dev/null
+++ b/internal/ceres/codegen/test_utils.h
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+
+#ifndef CERES_INTERNAL_CODEGEN_TEST_UTILS_H_
+#define CERES_INTERNAL_CODEGEN_TEST_UTILS_H_
+
+#include "ceres/internal/autodiff.h"
+#include "ceres/random.h"
+#include "ceres/sized_cost_function.h"
+#include "test_util.h"
+
+namespace ceres {
+namespace internal {
+
+// CodegenCostFunctions have both, an templated operator() and the Evaluate()
+// function. The operator() is used during code generation and Evaluate() is
+// used during execution.
+//
+// If we want to use the operator() during execution (with autodiff) this
+// wrapper class here has to be used. Autodiff doesn't support functors that
+// have an Evaluate() function.
+//
+// CostFunctionToFunctor hides the Evaluate() function, because it doesn't
+// derive from CostFunction. Autodiff sees it as a simple functor and will use
+// the operator() as expected.
+template <typename CostFunction>
+struct CostFunctionToFunctor {
+  template <typename... _Args>
+  CostFunctionToFunctor(_Args&&... __args)
+      : cost_function(std::forward<_Args>(__args)...) {}
+
+  template <typename... _Args>
+  bool operator()(_Args&&... __args) const {
+    return cost_function(std::forward<_Args>(__args)...);
+  }
+
+  CostFunction cost_function;
+};
+
+// Evaluate a cost function and return the residuals and jacobians.
+// All parameters are set to 'value'.
+std::pair<std::vector<double>, std::vector<double>> EvaluateCostFunction(
+    CostFunction* cost_function, double value);
+
+// Evaluates the two cost functions using the method above and then compares the
+// result. The comparison uses GTEST expect macros so this function should be
+// called from a test enviroment.
+void CompareCostFunctions(CostFunction* cost_function1,
+                          CostFunction* cost_function2,
+                          double value,
+                          double tol);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif
diff --git a/internal/ceres/test_util.cc b/internal/ceres/test_util.cc
index 515685679..a131b795e 100644
--- a/internal/ceres/test_util.cc
+++ b/internal/ceres/test_util.cc
@@ -34,6 +34,7 @@
 
 #include <algorithm>
 #include <cmath>
+
 #include "ceres/file.h"
 #include "ceres/stringprintf.h"
 #include "ceres/types.h"
@@ -54,6 +55,15 @@ namespace ceres {
 namespace internal {
 
 bool ExpectClose(double x, double y, double max_abs_relative_difference) {
+  if (std::isinf(x) && std::isinf(y)) {
+    EXPECT_EQ(std::signbit(x), std::signbit(y));
+    return true;
+  }
+
+  if (std::isnan(x) && std::isnan(y)) {
+    return true;
+  }
+
   double absolute_difference = fabs(x - y);
   double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
   if (x == 0 || y == 0) {
@@ -63,7 +73,10 @@ bool ExpectClose(double x, double y, double max_abs_relative_difference) {
   }
   if (relative_difference > max_abs_relative_difference) {
     VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
-                            x, y, absolute_difference, relative_difference);
+                            x,
+                            y,
+                            absolute_difference,
+                            relative_difference);
   }
 
   EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
@@ -108,36 +121,30 @@ void ExpectArraysCloseUptoScale(int n,
   }
 }
 
-void ExpectArraysClose(int n,
-                       const double* p,
-                       const double* q,
-                       double tol) {
+void ExpectArraysClose(int n, const double* p, const double* q, double tol) {
   CHECK_GT(n, 0);
   CHECK(p);
   CHECK(q);
 
   for (int i = 0; i < n; ++i) {
-    EXPECT_TRUE(ExpectClose(p[i], q[i], tol))
-        << "p[" << i << "]" << p[i] << " "
-        << "q[" << i << "]" << q[i] << " "
-        << "tol: " << tol;
+    EXPECT_TRUE(ExpectClose(p[i], q[i], tol)) << "p[" << i << "]" << p[i] << " "
+                                              << "q[" << i << "]" << q[i] << " "
+                                              << "tol: " << tol;
   }
 }
 
 std::string TestFileAbsolutePath(const std::string& filename) {
-  return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
-                  filename);
+  return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX, filename);
 }
 
 std::string ToString(const Solver::Options& options) {
-  return StringPrintf(
-      "(%s, %s, %s, %s, %d)",
-      LinearSolverTypeToString(options.linear_solver_type),
-      SparseLinearAlgebraLibraryTypeToString(
-          options.sparse_linear_algebra_library_type),
-      options.linear_solver_ordering? "USER": "AUTOMATIC",
-      PreconditionerTypeToString(options.preconditioner_type),
-      options.num_threads);
+  return StringPrintf("(%s, %s, %s, %s, %d)",
+                      LinearSolverTypeToString(options.linear_solver_type),
+                      SparseLinearAlgebraLibraryTypeToString(
+                          options.sparse_linear_algebra_library_type),
+                      options.linear_solver_ordering ? "USER" : "AUTOMATIC",
+                      PreconditionerTypeToString(options.preconditioner_type),
+                      options.num_threads);
 }
 
 }  // namespace internal
diff --git a/internal/ceres/test_util.h b/internal/ceres/test_util.h
index b5f13938f..ad9822833 100644
--- a/internal/ceres/test_util.h
+++ b/internal/ceres/test_util.h
@@ -32,6 +32,7 @@
 #define CERES_INTERNAL_TEST_UTIL_H_
 
 #include <string>
+
 #include "ceres/internal/port.h"
 #include "ceres/problem.h"
 #include "ceres/solver.h"
@@ -44,6 +45,9 @@ namespace internal {
 // Expects that x and y have a relative difference of no more than
 // max_abs_relative_difference. If either x or y is zero, then the relative
 // difference is interpreted as an absolute difference.
+//
+// If x and y have the same non-finite value (inf or nan) we treat them as being
+// close. In such a case no error is thrown and true is returned.
 bool ExpectClose(double x, double y, double max_abs_relative_difference);
 
 // Expects that for all i = 1,.., n - 1
@@ -113,11 +117,8 @@ class SystemTest : public ::testing::Test {
     Solver::Summary summary;
     Solve(options, problem, &summary);
     CHECK_NE(summary.termination_type, ceres::FAILURE);
-    problem->Evaluate(Problem::EvaluateOptions(),
-                      nullptr,
-                      final_residuals,
-                      nullptr,
-                      nullptr);
+    problem->Evaluate(
+        Problem::EvaluateOptions(), nullptr, final_residuals, nullptr, nullptr);
   }
 
   std::vector<double> expected_final_residuals_;