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/////////////////////////////////////////////////////////////////////////////////
////
//// Prototypes and definitions for verification routines for the jacobians
//// employed in the expert & simple drivers for sparse bundle adjustment
//// Copyright (C) 2005-2008 Manolis Lourakis (lourakis at ics forth gr)
//// Institute of Computer Science, Foundation for Research & Technology - Hellas
//// Heraklion, Crete, Greece.
////
//// This program is free software; you can redistribute it and/or modify
//// it under the terms of the GNU General Public License as published by
//// the Free Software Foundation; either version 2 of the License, or
//// (at your option) any later version.
////
//// This program is distributed in the hope that it will be useful,
//// but WITHOUT ANY WARRANTY; without even the implied warranty of
//// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
//// GNU General Public License for more details.
////
///////////////////////////////////////////////////////////////////////////////////
#ifndef _SBA_CHKJAC_H_
#define _SBA_CHKJAC_H_
#ifdef __cplusplus
extern "C" {
#endif
#if 0
/* simple driver jacobians */
extern void sba_motstr_chkjac(
void (*proj)(int jj, int ii, double *aj, double *bi, double *xij, void *adata),
void (*projac)(int jj, int ii, double *aj, double *bi, double *Aij, double *Bij, void *adata),
double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata);
extern void sba_mot_chkjac(
void (*proj)(int jj, int ii, double *aj, double *xij, void *adata),
void (*projac)(int jj, int ii, double *aj, double *Aij, void *adata),
double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata);
extern void sba_str_chkjac(
void (*proj)(int jj, int ii, double *bi, double *xij, void *adata),
void (*projac)(int jj, int ii, double *bi, double *Bij, void *adata),
double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata);
#endif /* 0 */
/* expert driver jacobians */
extern void
sba_motstr_chkjac_x(void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int ncon, int mcon, int cnp, int pnp,
int mnp, void *func_adata, void *jac_adata);
extern void
sba_mot_chkjac_x(void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int mcon, int cnp, int mnp,
void *func_adata, void *jac_adata);
extern void
sba_str_chkjac_x(void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int ncon, int pnp, int mnp,
void *func_adata, void *jac_adata);
#ifdef __cplusplus
}
#endif
#endif /* _SBA_CHKJAC_H_ */
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