2 GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
3 Atlanta, Georgia 30332-0415
6 See LICENSE for the license information
8 Numerical derivative functions.
9 Author: Joel Truher & Frank Dellaert
20 from typing
import Callable, TypeVar
33 def local(a: Y, b: Y) -> np.ndarray:
35 raise TypeError(f
"a {type(a)} b {type(b)}")
39 return np.ndarray([[b - a]])
41 return a.localCoordinates(b)
58 factor: float = 1.0 / (2.0 * delta)
65 H[:, j] = (dy1 - dy2) * factor
70 h: Callable[[X1, X2], Y], x1: X1, x2: X2, delta=1e-5
76 h: Callable[[X1, X2], Y], x1: X1, x2: X2, delta=1e-5
82 h: Callable[[X1, X2, X3], Y], x1: X1, x2: X2, x3: X3, delta=1e-5
88 h: Callable[[X1, X2, X3], Y], x1: X1, x2: X2, x3: X3, delta=1e-5
94 h: Callable[[X1, X2, X3], Y], x1: X1, x2: X2, x3: X3, delta=1e-5
100 h: Callable[[X1, X2, X3, X4], Y], x1: X1, x2: X2, x3: X3, x4: X4, delta=1e-5
106 h: Callable[[X1, X2, X3, X4], Y], x1: X1, x2: X2, x3: X3, x4: X4, delta=1e-5
112 h: Callable[[X1, X2, X3, X4], Y], x1: X1, x2: X2, x3: X3, x4: X4, delta=1e-5
118 h: Callable[[X1, X2, X3, X4], Y], x1: X1, x2: X2, x3: X3, x4: X4, delta=1e-5
124 h: Callable[[X1, X2, X3, X4, X5], Y], x1: X1, x2: X2, x3: X3, x4: X4, x5: X5, delta=1e-5
130 h: Callable[[X1, X2, X3, X4, X5], Y], x1: X1, x2: X2, x3: X3, x4: X4, x5: X5, delta=1e-5
136 h: Callable[[X1, X2, X3, X4, X5], Y], x1: X1, x2: X2, x3: X3, x4: X4, x5: X5, delta=1e-5
142 h: Callable[[X1, X2, X3, X4, X5], Y], x1: X1, x2: X2, x3: X3, x4: X4, x5: X5, delta=1e-5
148 h: Callable[[X1, X2, X3, X4, X5], Y], x1: X1, x2: X2, x3: X3, x4: X4, x5: X5, delta=1e-5
154 h: Callable[[X1, X2, X3, X4, X5, X6], Y],
167 h: Callable[[X1, X2, X3, X4, X5, X6], Y],
180 h: Callable[[X1, X2, X3, X4, X5, X6], Y],
193 h: Callable[[X1, X2, X3, X4, X5, X6], Y],
206 h: Callable[[X1, X2, X3, X4, X5, X6], Y],
219 h: Callable[[X1, X2, X3, X4, X5, X6], Y],