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Merge pull request #516 from borglab/dellaert/issue514 

Fix typo in numerical derivative, closes #514
release/4.3a0
Frank Dellaert 2020-09-10 13:13:19 -04:00 committed by GitHub
parent f048455937 4f2e5ac983
commit 5a16ce4fe2
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 3 deletions
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7
gtsam/base/numericalDerivative.h
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@ -700,9 +700,10 @@ inline typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative65(Y (*
* @return m*n Jacobian computed via central differencing
*/
template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative66(
boost::function<Y(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&)> h, const X1& x1,
const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
typename internal::FixedSizeMatrix<Y, X6>::type numericalDerivative66(
boost::function<Y(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&)> h,
const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6,
double delta = 1e-5) {
BOOST_STATIC_ASSERT_MSG( (boost::is_base_of<gtsam::manifold_tag, typename traits<Y>::structure_category>::value),
"Template argument Y must be a manifold type.");
BOOST_STATIC_ASSERT_MSG( (boost::is_base_of<gtsam::manifold_tag, typename traits<X1>::structure_category>::value),