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Unit tests for dynamics jacobians #56

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stephanietsuei opened this issue Apr 21, 2022 · 2 comments
Open

Unit tests for dynamics jacobians #56

stephanietsuei opened this issue Apr 21, 2022 · 2 comments
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wontfix This will not be worked on

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@stephanietsuei
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Write unit tests for dynamics jacobians that compare analytical values to first-order numerical approximations with a small step size. (Similar unit tests have been implemented in src/tests/unittest_jacobians_instate.cpp for the measurement update.)

If the unit tests fail, then fix the dynamics jacobians.
@stephanietsuei stephanietsuei added the wontfix This will not be worked on label May 12, 2022
@stephanietsuei
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Jacobians are coded (correctly, I believe) in branch dynamics_jacobians. However, Rodrigues's formula is highly nonlinear and creates numeric difficulties, as is evidenced in file unitests_jacobians.cpp and the commit history.

@stephanietsuei
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Tried again in jacobians_take_two branch after switching to Sophus. Same problems came up.

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