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fixing compilation problem in numericalHessian and re-enable the unittest

release/4.3a0
Duy-Nguyen Ta 2011-04-10 17:47:22 +00:00
parent 6a444b558d
commit 10b37db234
2 changed files with 41 additions and 40 deletions
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7
gtsam/base/numericalDerivative.h
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@ -465,9 +465,10 @@ namespace gtsam {
* @return n*n Hessian matrix computed via central differencing * @return n*n Hessian matrix computed via central differencing
*/ */
template<class X> template<class X>
inline Matrix numericalHessian(const boost::function<double(const X&)>& f, const X& x, double delta=1e-5) { inline Matrix numericalHessian(boost::function<double(const X&)> f, const X& x, double delta=1e-5) {
return numericalDerivative11<X>( Vector (*numGrad)(boost::function<double(const X&)>,const X&, double) = &numericalGradient<X>;
boost::function<LieVector(const X&)>(boost::bind(numericalGradient<X>, f, _1, delta)), x, delta); return numericalDerivative11<X>(boost::function<Vector(const X&)>(boost::bind(
numGrad, f, _1, delta)), x, delta);
} }
template<class X> template<class X>

74
gtsam/base/tests/testNumericalDerivative.cpp
View File

@ -22,43 +22,43 @@
using namespace gtsam; using namespace gtsam;
///* ************************************************************************* */ /* ************************************************************************* */
//double f(const LieVector& x) { double f(const LieVector& x) {
// assert(x.size() == 2); assert(x.size() == 2);
// return sin(x(0)) + cos(x(1)); return sin(x(0)) + cos(x(1));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST_UNSAFE(testNumericalDerivative, numericalHessian) { TEST_UNSAFE(testNumericalDerivative, numericalHessian) {
// LieVector center(2, 1.0, 1.0); LieVector center(2, 1.0, 1.0);
//
// Matrix expected = Matrix_(2,2, Matrix expected = Matrix_(2,2,
// -sin(center(0)), 0.0, -sin(center(0)), 0.0,
// 0.0, -cos(center(1))); 0.0, -cos(center(1)));
//
// Matrix actual = numericalHessian(f, center); Matrix actual = numericalHessian(f, center);
//
// EXPECT(assert_equal(expected, actual, 1e-5)); EXPECT(assert_equal(expected, actual, 1e-5));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//double f2(const LieVector& x) { double f2(const LieVector& x) {
// assert(x.size() == 2); assert(x.size() == 2);
// return sin(x(0)) * cos(x(1)); return sin(x(0)) * cos(x(1));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST_UNSAFE(testNumericalDerivative, numericalHessian2) { TEST_UNSAFE(testNumericalDerivative, numericalHessian2) {
// LieVector center(2, 0.5, 1.0); LieVector center(2, 0.5, 1.0);
//
// Matrix expected = Matrix_(2,2, Matrix expected = Matrix_(2,2,
// -cos(center(1))*sin(center(0)), -sin(center(1))*cos(center(0)), -cos(center(1))*sin(center(0)), -sin(center(1))*cos(center(0)),
// -cos(center(0))*sin(center(1)), -sin(center(0))*cos(center(1))); -cos(center(0))*sin(center(1)), -sin(center(0))*cos(center(1)));
//
// Matrix actual = numericalHessian(f2, center); Matrix actual = numericalHessian(f2, center);
//
// EXPECT(assert_equal(expected, actual, 1e-5)); EXPECT(assert_equal(expected, actual, 1e-5));
//} }
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }