Lines Matching refs:jacobians
70 double** jacobians,
84 if (jacobians != NULL) {
87 if (jacobians[i] != NULL &&
92 global_jacobians[i] = jacobians[i];
106 double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL;
123 "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT
136 // Update the jacobians with the local parameterizations.
137 if (jacobians != NULL) {
139 if (jacobians[i] != NULL) {
142 // Apply local reparameterization to the jacobians.
144 // jacobians[i] = global_jacobians[i] * global_to_local_jacobian.
152 jacobians[i], 0, 0, num_residuals, parameter_block->LocalSize());
167 // No jacobians and not outputting residuals? All done. Doing an early exit
169 if (jacobians == NULL && !outputting_residuals) {
173 // Correct for the effects of the loss function. The jacobians need to be
176 if (jacobians != NULL) {
178 if (jacobians[i] != NULL) {
181 // Correct the jacobians for the loss function.
185 jacobians[i]);
199 // jacobians. For parameters that have no local parameterization no storage
