expressionTesting.h File Reference

Test harness methods for expressions. More...

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Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance)
	Check the Jacobians produced by an expression against finite differences.

Functions
template<typename T>
bool	gtsam::internal::testExpressionJacobians (const std::string &name_, const gtsam::Expression< T > &expression, const gtsam::Values &values, double nd_step, double tolerance)

Detailed Description

Test harness methods for expressions.

Date

September 18, 2014

Author

Frank Dellaert

Paul Furgale

Macro Definition Documentation

EXPECT_CORRECT_EXPRESSION_JACOBIANS

#define EXPECT_CORRECT_EXPRESSION_JACOBIANS	(		expression,
			values,
			numerical_derivative_step,
			tolerance )

Value:

{ EXPECT(gtsam::internal::testExpressionJacobians(name_, expression, values, numerical_derivative_step, tolerance)); }

Check the Jacobians produced by an expression against finite differences.

Parameters

expression	The expression to test.
values	Values filled in for testing the Jacobians.
numerical_derivative_step	The step to use when computing the finite difference Jacobians
tolerance	The numerical tolerance to use when comparing Jacobians.