Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/residual_block_utils.h

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Utility routines for ResidualBlock evaluation.
//
// These are useful for detecting two common class of errors.
//
// 1. Uninitialized memory - where the user for some reason did not
// compute part of a cost/residual/jacobian.
//
// 2. Numerical failure while computing the cost/residual/jacobian,
// e.g. NaN, infinities etc. This is particularly useful since the
// automatic differentiation code does computations that are not
// evident to the user and can silently generate hard to debug errors.

#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_

#include <string>

#include "ceres/internal/export.h"

namespace ceres::internal {

class ResidualBlock;

// Invalidate cost, resdual and jacobian arrays (if not nullptr).
CERES_NO_EXPORT
void InvalidateEvaluation(const ResidualBlock& block,
                          double* cost,
                          double* residuals,
                          double** jacobians);

// Check if any of the arrays cost, residuals or jacobians contains an
// NaN, return true if it does.
CERES_NO_EXPORT
bool IsEvaluationValid(const ResidualBlock& block,
                       double const* const* parameters,
                       double* residuals,
                       double** jacobians);

// Create a string representation of the Residual block containing the
// value of the parameters, residuals and jacobians if present.
// Useful for debugging output.
CERES_NO_EXPORT
std::string EvaluationToString(const ResidualBlock& block,
                               double const* const* parameters,
                               double* cost,
                               double* residuals,
                               double** jacobians);

}  // namespace ceres::internal

#endif  // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_