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release/4.3a0
Frank Dellaert 2009-12-20 10:32:34 +00:00
parent 7012fd2857
commit 18c44e0d1f
1 changed files with 12 additions and 12 deletions
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24
cpp/numericalDerivative.h
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@ -15,7 +15,7 @@ namespace gtsam {
/** /**
* Numerically compute gradient of scalar function * Numerically compute gradient of scalar function
* Class X is the input argument * Class X is the input argument
* needs dim, exmap, vector * The class X needs to have dim, exmap, vector
*/ */
template<class X> template<class X>
Vector numericalGradient(double (*h)(const X&), const X& x, double delta=1e-5) { Vector numericalGradient(double (*h)(const X&), const X& x, double delta=1e-5) {
@ -32,7 +32,7 @@ namespace gtsam {
} }
/** /**
* Compute numerical derivative in arument 1 of unary function * Compute numerical derivative in argument 1 of unary function
* @param h unary function yielding m-vector * @param h unary function yielding m-vector
* @param x n-dimensional value at which to evaluate h * @param x n-dimensional value at which to evaluate h
* @param delta increment for numerical derivative * @param delta increment for numerical derivative
@ -42,10 +42,10 @@ namespace gtsam {
(Vector (*h)(const Vector&), const Vector& x, double delta=1e-5); (Vector (*h)(const Vector&), const Vector& x, double delta=1e-5);
/** /**
* templated version (starts with LOWERCASE n) * Templated version (starts with LOWERCASE n)
* Class Y is the output arguement * Class Y is the output argument
* Class X is the input argument * Class X is the input argument
* both classes need dim, exmap, vector * Both classes X,Y need dim, exmap, vector
*/ */
template<class Y, class X> template<class Y, class X>
Matrix numericalDerivative11(Y (*h)(const X&), const X& x, double delta=1e-5) { Matrix numericalDerivative11(Y (*h)(const X&), const X& x, double delta=1e-5) {
@ -75,8 +75,8 @@ namespace gtsam {
const Vector& x1, const Vector& x2, double delta=1e-5); const Vector& x1, const Vector& x2, double delta=1e-5);
/** /**
* templated version (starts with LOWERCASE n) * Templated version (starts with LOWERCASE n)
* classes need dim, exmap, vector * All classes Y,X1,X2 need dim, exmap, vector
*/ */
template<class Y, class X1, class X2> template<class Y, class X1, class X2>
Matrix numericalDerivative21(Y (*h)(const X1&, const X2&), Matrix numericalDerivative21(Y (*h)(const X1&, const X2&),
@ -96,7 +96,7 @@ namespace gtsam {
} }
/** /**
* Compute numerical derivative in arument 2 of binary function * Compute numerical derivative in argument 2 of binary function
* @param h binary function yielding m-vector * @param h binary function yielding m-vector
* @param x1 first argument value * @param x1 first argument value
* @param x2 n-dimensional second argument value * @param x2 n-dimensional second argument value
@ -107,8 +107,8 @@ namespace gtsam {
(Vector (*h)(const Vector&, const Vector&), const Vector& x1, const Vector& x2, double delta=1e-5); (Vector (*h)(const Vector&, const Vector&), const Vector& x1, const Vector& x2, double delta=1e-5);
/** /**
* templated version (starts with LOWERCASE n) * Templated version (starts with LOWERCASE n)
* classes need dim, exmap, vector * All classes Y,X1,X2 need dim, exmap, vector
*/ */
template<class Y, class X1, class X2> template<class Y, class X1, class X2>
Matrix numericalDerivative22 Matrix numericalDerivative22
@ -141,8 +141,8 @@ namespace gtsam {
(Vector (*h)(const Vector&, const Vector&, const Vector&), const Vector& x1, const Vector& x2, const Vector& x3, double delta=1e-5); (Vector (*h)(const Vector&, const Vector&, const Vector&), const Vector& x1, const Vector& x2, const Vector& x3, double delta=1e-5);
/** /**
* templated version (starts with LOWERCASE n) * Templated version (starts with LOWERCASE n)
* classes need dim, exmap, vector * All classes Y,X1,X2,X3 need dim, exmap, vector
*/ */
template<class Y, class X1, class X2, class X3> template<class Y, class X1, class X2, class X3>
Matrix numericalDerivative31 Matrix numericalDerivative31