mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
64 lines
2.4 KiB
C++
64 lines
2.4 KiB
C++
|
|
// 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
|
|
// 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: 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_
|