factorTesting.h File Reference

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

Go to the source code of this file.

Namespaces
	gtsam
	Global functions in a separate testing namespace.

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)
	Linearize a nonlinear factor using numerical differentiation The benefit of this method is that it does not need to know what types are involved to evaluate the factor. More...
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

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

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.