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Added comment about manifold measurements

release/4.3a0
Frank Dellaert 2015-07-11 18:29:15 -07:00
parent 3fae6178e8
commit 12bbe2f911
1 changed files with 4 additions and 0 deletions
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gtsam/nonlinear/factorTesting.h
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@ -33,6 +33,10 @@ namespace gtsam {
* The benefit of this method is that it does not need to know what types are * The benefit of this method is that it does not need to know what types are
* involved to evaluate the factor. If all the machinery of gtsam is working * involved to evaluate the factor. If all the machinery of gtsam is working
* correctly, we should get the correct numerical derivatives out the other side. * correctly, we should get the correct numerical derivatives out the other side.
* NOTE(frank): factor that have non vector-space measurements use between or LocalCoordinates
* to evaluate the error, and their derivatives will only be correct for near-zero errors.
* This is fixable but expensive, and does not matter in practice as most factors will sit near
* zero errors anyway. However, it means that below will only be exact for the correct measurement.
*/ */
JacobianFactor linearizeNumerically(const NoiseModelFactor& factor, JacobianFactor linearizeNumerically(const NoiseModelFactor& factor,
const Values& values, double delta = 1e-5) { const Values& values, double delta = 1e-5) {