Template Function mrpt::math::estimateJacobian

Function Documentation

template<class VECTORLIKE, class VECTORLIKE2, class VECTORLIKE3, class MATRIXLIKE, class USERPARAM>
void mrpt::math::estimateJacobian(const VECTORLIKE &x, const std::function<void(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out)> &functor, const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian)

Estimate the Jacobian of a multi-dimensional function around a point “x”, using finite differences of a given size in each input dimension. The template argument USERPARAM is for the data can be passed to the functor. If it is not required, set to “int” or any other basic type.

This is a generic template which works with: VECTORLIKE: vector_float, CVectorDouble, CVectorFixed<>, double [N], … MATRIXLIKE: CMatrixDynamic, CMatrixFixed