// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2015 Google Inc. All rights reserved.

// http://ceres-solver.org/

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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/port.h"

namespace ceres {

namespace internal {

class ResidualBlock;

// Invalidate cost, resdual and jacobian arrays (if not NULL).

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.

bool IsEvaluationValid(const ResidualBlock& block,

                       double const* const* parameters,

                       double* cost,

                       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.

std::string EvaluationToString(const ResidualBlock& block,

                               double const* const* parameters,

                               double* cost,

                               double* residuals,

                               double** jacobians);

}  // namespace internal

}  // namespace ceres

#endif  // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_