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Better fkag naming, and more docs

release/4.3a0
Varun Agrawal 2020-11-18 14:48:05 -05:00
parent 326957b0d3
commit 1fd0e57fb0
4 changed files with 17 additions and 14 deletions
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2
gtsam/base/Matrix.h
View File

@ -90,7 +90,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase<MATRIX>& A, const Eigen::DenseBas
for(size_t i=0; i<m1; i++)
for(size_t j=0; j<n1; j++) {
if(!fpEqual(A(i,j), B(i,j), tol, true)) {
if(!fpEqual(A(i,j), B(i,j), tol, false)) {
return false;
}
}

14
gtsam/base/Vector.cpp
View File

@ -39,7 +39,7 @@ namespace gtsam {
* 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
* 2. https://floating-point-gui.de/errors/comparison/
* ************************************************************************* */
bool fpEqual(double a, double b, double tol, bool absolute) {
bool fpEqual(double a, double b, double tol, bool check_relative) {
using std::abs;
using std::isnan;
using std::isinf;
@ -48,7 +48,7 @@ bool fpEqual(double a, double b, double tol, bool absolute) {
double larger = (abs(b) > abs(a)) ? abs(b) : abs(a);
// handle NaNs
if(std::isnan(a) || isnan(b)) {
if(isnan(a) || isnan(b)) {
return isnan(a) && isnan(b);
}
// handle inf
@ -60,15 +60,15 @@ bool fpEqual(double a, double b, double tol, bool absolute) {
else if(a == 0 || b == 0 || (abs(a) + abs(b)) < DOUBLE_MIN_NORMAL) {
return abs(a-b) <= tol * DOUBLE_MIN_NORMAL;
}
// Check if the numbers are really close
// Needed when comparing numbers near zero or tol is in vicinity
else if(abs(a-b) <= tol) {
// Check if the numbers are really close.
// Needed when comparing numbers near zero or tol is in vicinity.
else if (abs(a - b) <= tol) {
return true;
}
// Use relative error
// Check for relative error
else if (abs(a - b) <=
tol * min(larger, std::numeric_limits<double>::max()) &&
!absolute) {
check_relative) {
return true;
}

5
gtsam/base/Vector.h
View File

@ -85,10 +85,13 @@ static_assert(
* respectively for the comparison to be true.
* If one is NaN/Inf and the other is not, returns false.
*
* The `check_relative` flag toggles checking for relative error as well. By
* default, the flag is true.
*
* Return true if two numbers are close wrt tol.
*/
GTSAM_EXPORT bool fpEqual(double a, double b, double tol,
bool absolute = false);
bool check_relative = true);
/**
* print without optional string, must specify cout yourself

10
gtsam/base/tests/testMatrix.cpp
View File

@ -1164,15 +1164,15 @@ TEST(Matrix , IsVectorSpace) {
}
TEST(Matrix, AbsoluteError) {
double a = 2000, b = 1997, tol=1e-1;
double a = 2000, b = 1997, tol = 1e-1;
bool isEqual;
// Test absolute error
isEqual = fpEqual(a, b, tol, true);
// Test only absolute error
isEqual = fpEqual(a, b, tol, false);
EXPECT(!isEqual);
// Test relative error
isEqual = fpEqual(a, b, tol, false);
// Test relative error as well
isEqual = fpEqual(a, b, tol);
EXPECT(isEqual);
}