pub fn evaluate_jacobian_from_analytical_function<'a, M, D>(
jacobian_matrix: &mut JacobianMatrix<D>,
model: &mut M,
residuals_config: &'a ResidualsConfig<'a>
) -> Result<(), SolverInternalError<M, D>>where
M: Model<D>,
D: DimMin<D, Output = D>,
DefaultAllocator: Allocator<f64, D>,
DefaultAllocator: Allocator<f64, D, D>,
DefaultAllocator: Allocator<(usize, usize), D>,