UniformGaussNewtonModel.evaluate

t3toolbox.fitting.UniformGaussNewtonModel.evaluate(p)

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.

Parameters:

p (UT3Tangent)

Return type:

NDArray