12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

A small example showing that Hessian matrices in Lie groups might not be symmetric

release/4.3a0
thduynguyen 2014-08-06 08:49:28 -04:00
parent 3778e3c928
commit 779a21c2c4
1 changed files with 17 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
gtsam/base/tests/testNumericalDerivative.cpp
View File

@ -124,6 +124,23 @@ TEST(testNumericalDerivative, numericalHessian311) {
EXPECT(assert_equal(expected33, actual33, 1e-5)); EXPECT(assert_equal(expected33, actual33, 1e-5));
} }
/* ************************************************************************* */
/// A small example showing that Hessian matrices in Lie group might not be symmetric!!!
#include <gtsam/geometry/Pose2.h>
double f5(const Pose2& x) {
Point2 p(5, 10);
Point2 q = x.transform_from(p);
return q.x();
}
TEST(testNumericalDerivative, numericalHessianPose2) {
Pose2 x0(Rot2(20.0*M_PI/180.0), Point2(20, 25));
Matrix actualH = numericalHessian<Pose2>(f5, x0);
Matrix expectedH = (Matrix(3,3) << 0, 0, -0.34202, 0, 0, -0.939693, 0, 0, -1.27827);
EXPECT(assert_equal(expectedH, actualH, 1e-5));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */