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Use 'F' order

release/4.3a0
Frank Dellaert 2024-09-20 13:45:32 -07:00
parent ed90121e0a
commit 9567006b6b
1 changed files with 3 additions and 1 deletions
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python/CustomFactors.md
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@ -18,12 +18,14 @@ def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -
`this` is a reference to the `CustomFactor` object. This is required because one can reuse the same `this` is a reference to the `CustomFactor` object. This is required because one can reuse the same
`error_func` for multiple factors. `v` is a reference to the current set of values, and `H` is a list of `error_func` for multiple factors. `v` is a reference to the current set of values, and `H` is a list of
**references** to the list of required Jacobians (see the corresponding C++ documentation). Note that **references** to the list of required Jacobians (see the corresponding C++ documentation). Note that
the error returned must be a 1D numpy array. the error returned must be a 1D `numpy` array.
If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error` If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error`
method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`, method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`,
each entry of `H` can be assigned a (2D) `numpy` array, as the Jacobian for the corresponding variable. each entry of `H` can be assigned a (2D) `numpy` array, as the Jacobian for the corresponding variable.
All `numpy` matrices inside should be using `order="F"` to maintain interoperability with C++.
After defining `error_func`, one can create a `CustomFactor` just like any other factor in GTSAM: After defining `error_func`, one can create a `CustomFactor` just like any other factor in GTSAM:
```python ```python