UniformGaussNewtonModel.evaluate
================================

.. py:method:: t3toolbox.fitting.UniformGaussNewtonModel.evaluate(p)

   .. code-block:: python

      def evaluate(self, p: ut3m.UT3Tangent) -> NDArray:  # m(p), shape C


   The quadratic-model value ``m(p) = c + gᵀp + ½ pᵀHp``, reusing ``c`` / ``g`` and ONE forward apply.
   With a ``regularizer``, ``c`` / ``g`` already carry ``ρ`` / ``g_R``, so only ``½⟨p, H_R p⟩`` is added.