gtsam  4.1.0
gtsam
expressionTesting.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
20 #pragma once
21 
22 #include <gtsam/nonlinear/ExpressionFactor.h>
24 #include <gtsam/base/Testable.h>
25 
26 namespace gtsam {
27 
28 namespace internal {
29 // CPPUnitLite-style test for linearization of an ExpressionFactor
30 template<typename T>
31 bool testExpressionJacobians(const std::string& name_,
32  const gtsam::Expression<T>& expression, const gtsam::Values& values,
33  double nd_step, double tolerance) {
34  // Create factor
35  size_t size = traits<T>::dimension;
36  ExpressionFactor<T> f(noiseModel::Unit::Create(size),
37  expression.value(values), expression);
38  return testFactorJacobians(name_, f, values, nd_step, tolerance);
39 }
40 } // namespace internal
41 } // namespace gtsam
42 
48 #define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
49  { EXPECT(gtsam::internal::testExpressionJacobians(name_, expression, values, numerical_derivative_step, tolerance)); }
Testable.h
Concept check for values that can be used in unit tests.
gtsam::noiseModel::Unit::Create
static shared_ptr Create(size_t dim)
Create a unit covariance noise model.
Definition: NoiseModel.h:608
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::Expression
Expression class that supports automatic differentiation.
Definition: Expression.h:49
gtsam::Expression::value
T value(const Values &values, boost::optional< std::vector< Matrix > & > H=boost::none) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient,...
Definition: Expression-inl.h:132
gtsam::Values
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:71
factorTesting.h
Evaluate derivatives of a nonlinear factor numerically.