Namespaces | Macros | Functions
factorTesting.h File Reference

Evaluate derivatives of a nonlinear factor numerically. More...

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/numericalDerivative.h>
#include <string>
#include <vector>
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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)
 

Detailed Description

Evaluate derivatives of a nonlinear factor numerically.

Date
September 18, 2014
Author
Frank Dellaert
Paul Furgale

Definition in file factorTesting.h.

Macro Definition Documentation

◆ EXPECT_CORRECT_FACTOR_JACOBIANS

#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.

Parameters
factorThe factor to test.
valuesValues filled in for testing the Jacobians.
numerical_derivative_stepThe step to use when computing the numerical derivative Jacobians
toleranceThe numerical tolerance to use when comparing Jacobians.

Definition at line 114 of file factorTesting.h.



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autogenerated on Fri Nov 1 2024 03:43:16