gtsam  4.1.0
gtsam
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
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.