expressionTesting.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
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10  * -------------------------------------------------------------------------- */
11 
20 #pragma once
21 
24 #include <gtsam/base/Testable.h>
25 
26 namespace gtsam {
27 
28 namespace internal {
29 // CPPUnitLite-style test for linearization of an ExpressionFactor
30 template<typename T>
31 bool testExpressionJacobians(const std::string& name_,
32  const gtsam::Expression<T>& expression, const gtsam::Values& values,
33  double nd_step, double tolerance) {
34  // Create factor
35  size_t size = traits<T>::dimension;
37  expression.value(values), expression);
38  return testFactorJacobians(name_, f, values, nd_step, tolerance);
39 }
40 } // namespace internal
41 } // namespace gtsam
42 
48 #define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
49  { EXPECT(gtsam::internal::testExpressionJacobians(name_, expression, values, numerical_derivative_step, tolerance)); }
gtsam::Expression::value
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,...
Definition: Expression-inl.h:142
Testable.h
Concept check for values that can be used in unit tests.
different_sigmas::values
HybridValues values
Definition: testHybridBayesNet.cpp:245
size
Scalar Scalar int size
Definition: benchVecAdd.cpp:17
gtsam::internal::testExpressionJacobians
bool testExpressionJacobians(const std::string &name_, const gtsam::Expression< T > &expression, const gtsam::Values &values, double nd_step, double tolerance)
Definition: expressionTesting.h:31
gtsam::Expression
Definition: Expression.h:47
gtsam::internal::testFactorJacobians
bool testFactorJacobians(const std::string &name_, const NoiseModelFactor &factor, const gtsam::Values &values, double delta, double tolerance)
Definition: factorTesting.h:77
gtsam::noiseModel::Unit::Create
static shared_ptr Create(size_t dim)
Definition: NoiseModel.h:631
factorTesting.h
Evaluate derivatives of a nonlinear factor numerically.
tree::f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Definition: testExpression.cpp:218
gtsam
traits
Definition: SFMdata.h:40
gtsam::traits
Definition: Group.h:36
gtsam::Values
Definition: Values.h:65
ExpressionFactor.h
internal
Definition: BandTriangularSolver.h:13
gtsam::ExpressionFactor
Definition: Expression.h:36


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autogenerated on Fri Nov 1 2024 03:32:31