Evaluate derivatives of a nonlinear factor numerically. More...
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/numericalDerivative.h>
#include <string>
#include <vector>
Go to the source code of this file.
Namespaces | |
gtsam | |
traits | |
gtsam::internal | |
Macros | |
#define | EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) { EXPECT(gtsam::internal::testFactorJacobians(name_, factor, values, numerical_derivative_step, tolerance)); } |
Check the Jacobians produced by a factor against finite differences. More... | |
Functions | |
JacobianFactor | gtsam::linearizeNumerically (const NoiseModelFactor &factor, const Values &values, double delta=1e-5) |
bool | gtsam::internal::testFactorJacobians (const std::string &name_, const NoiseModelFactor &factor, const gtsam::Values &values, double delta, double tolerance) |
Evaluate derivatives of a nonlinear factor numerically.
Definition in file factorTesting.h.
#define EXPECT_CORRECT_FACTOR_JACOBIANS | ( | factor, | |
values, | |||
numerical_derivative_step, | |||
tolerance | |||
) | { EXPECT(gtsam::internal::testFactorJacobians(name_, factor, values, numerical_derivative_step, tolerance)); } |
Check the Jacobians produced by a factor against finite differences.
factor | The factor to test. |
values | Values filled in for testing the Jacobians. |
numerical_derivative_step | The step to use when computing the numerical derivative Jacobians |
tolerance | The numerical tolerance to use when comparing Jacobians. |
Definition at line 114 of file factorTesting.h.