| 12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182 | // 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"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
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