@Test public void computeGradient() { DMatrixRMaj found = new DMatrixRMaj(N,1); DMatrixRMaj expected = new DMatrixRMaj(N,1); math.computeGradient(jacLeft,jacRight,residuals,found); CommonOps_DSCC.multTransA(J,residuals,expected); assertTrue(MatrixFeatures_DDRM.isIdentical(expected,found,UtilEjml.TEST_F64)); }