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33 double nd_step,
double tolerance) {
48 #define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
49 { EXPECT(gtsam::internal::testExpressionJacobians(name_, expression, values, numerical_derivative_step, tolerance)); }
T value(const Values &values, std::vector< Matrix > *H=nullptr) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient,...
Concept check for values that can be used in unit tests.
bool testExpressionJacobians(const std::string &name_, const gtsam::Expression< T > &expression, const gtsam::Values &values, double nd_step, double tolerance)
bool testFactorJacobians(const std::string &name_, const NoiseModelFactor &factor, const gtsam::Values &values, double delta, double tolerance)
static shared_ptr Create(size_t dim)
Evaluate derivatives of a nonlinear factor numerically.
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
gtsam
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autogenerated on Sat Nov 16 2024 04:02:17