54 lines
2.0 KiB
C
54 lines
2.0 KiB
C
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file expressionTesting.h
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief Test harness methods for expressions.
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*/
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#pragma once
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#include "Expression.h"
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#include "ExpressionFactor.h"
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#include <gtsam/base/Matrix.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestResult.h>
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#include <CppUnitLite/Test.h>
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#include <CppUnitLite/Failure.h>
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#include <gtsam/base/numericalDerivative.h>
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namespace gtsam {
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template<typename T>
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void testExpressionJacobians(TestResult& result_,
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const std::string& name_,
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const gtsam::Expression<T>& expression,
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const gtsam::Values& values,
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double nd_step,
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double tolerance) {
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// Create factor
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size_t size = traits::dimension<T>::value;
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ExpressionFactor<T> f(noiseModel::Unit::Create(size), expression.value(values), expression);
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testFactorJacobians(result_, name_, f, values, nd_step, tolerance);
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}
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} // namespace gtsam
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/// \brief Check the Jacobians produced by an expression against finite differences.
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/// \param expression The expression to test.
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/// \param values Values filled in for testing the Jacobians.
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/// \param numerical_derivative_step The step to use when computing the finite difference Jacobians
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/// \param tolerance The numerical tolerance to use when comparing Jacobians.
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#define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
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{ gtsam::testExpressionJacobians(result_, name_, expression, values, numerical_derivative_step, tolerance); }
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