[37] | 1 | ///////////////////////////////////////////////////////////////////////////////// |
---|
| 2 | //// |
---|
| 3 | //// Prototypes and definitions for verification routines for the jacobians |
---|
| 4 | //// employed in the expert & simple drivers for sparse bundle adjustment |
---|
| 5 | //// Copyright (C) 2005 Manolis Lourakis (lourakis@ics.forth.gr) |
---|
| 6 | //// Institute of Computer Science, Foundation for Research & Technology - Hellas |
---|
| 7 | //// Heraklion, Crete, Greece. |
---|
| 8 | //// |
---|
| 9 | //// This program is free software; you can redistribute it and/or modify |
---|
| 10 | //// it under the terms of the GNU General Public License as published by |
---|
| 11 | //// the Free Software Foundation; either version 2 of the License, or |
---|
| 12 | //// (at your option) any later version. |
---|
| 13 | //// |
---|
| 14 | //// This program is distributed in the hope that it will be useful, |
---|
| 15 | //// but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
| 16 | //// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
---|
| 17 | //// GNU General Public License for more details. |
---|
| 18 | //// |
---|
| 19 | /////////////////////////////////////////////////////////////////////////////////// |
---|
| 20 | |
---|
| 21 | #ifndef _SBA_CHKJAC_H_ |
---|
| 22 | #define _SBA_CHKJAC_H_ |
---|
| 23 | |
---|
| 24 | #ifdef __cplusplus |
---|
| 25 | extern "C" { |
---|
| 26 | #endif |
---|
| 27 | |
---|
| 28 | #if 0 |
---|
| 29 | /* simple driver jacobians */ |
---|
| 30 | extern void sba_motstr_chkjac( |
---|
| 31 | void (*proj)(int jj, int ii, double *aj, double *bi, double *xij, void *adata), |
---|
| 32 | void (*projac)(int jj, int ii, double *aj, double *bi, double *Aij, double *Bij, void *adata), |
---|
| 33 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 34 | |
---|
| 35 | extern void sba_mot_chkjac( |
---|
| 36 | void (*proj)(int jj, int ii, double *aj, double *xij, void *adata), |
---|
| 37 | void (*projac)(int jj, int ii, double *aj, double *Aij, void *adata), |
---|
| 38 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 39 | |
---|
| 40 | extern void sba_str_chkjac( |
---|
| 41 | void (*proj)(int jj, int ii, double *bi, double *xij, void *adata), |
---|
| 42 | void (*projac)(int jj, int ii, double *bi, double *Bij, void *adata), |
---|
| 43 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 44 | #endif /* 0 */ |
---|
| 45 | |
---|
| 46 | /* expert driver jacobians */ |
---|
| 47 | extern void sba_motstr_chkjac_x( |
---|
| 48 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
---|
| 49 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
---|
| 50 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int mcon, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 51 | |
---|
| 52 | extern void sba_mot_chkjac_x( |
---|
| 53 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
---|
| 54 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
---|
| 55 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int mcon, int cnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 56 | |
---|
| 57 | extern void sba_str_chkjac_x( |
---|
| 58 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
---|
| 59 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
---|
| 60 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int pnp, int mnp, void *func_adata, void *jac_adata); |
---|
| 61 | |
---|
| 62 | |
---|
| 63 | #ifdef __cplusplus |
---|
| 64 | } |
---|
| 65 | #endif |
---|
| 66 | |
---|
| 67 | #endif /* _SBA_CHKJAC_H_ */ |
---|