DM-10542: Replace XYTransform::linearizeTransform #245
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| */ | ||
| template <class T, int Rows, int Cols> | ||
| ndarray::Array<T, 2, 2> toNdArray(Eigen::Matrix<T, Rows, Cols> const &matrix) { | ||
| ndarray::Array<T, 2, 2> array = ndarray::allocate(ndarray::makeVector(matrix.rows(), matrix.cols())); |
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Would it be any more efficient to use the template parameters Rows and Colshere? I assume they *must* be identical tomatrix.rows()andmatrix.cols()`.
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No, actually. Rows and Cols may have the dummy value -1 to mean "determined at run-time", and in fact they do have this value for the matrix returned by getJacobian. (Also, I'm pretty sure that in fixed-size matrices the implementations for rows() and cols() are optimized for inlining.)
tests/test_transformFactory.py
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| tweakedInPoint = fromEndpoint.pointFromData( | ||
| rawLinPoint + deltaFrom[:, i]) | ||
| assert_allclose(jacobian, | ||
| linearized.getJacobian(linPoint), |
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I think you want the argument to be tweakedInPoint
| err_msg=msg) | ||
| # First derivative will be tested in next section | ||
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| # Is linearized linear? |
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Consider adding something to the effect: "Test by asserting that the Jacobian of the linearized transform measured at various points matches the Jacobian of the original transform at linPoint"
The function has been placed in a new transformFactory header that will soon have other Transform-creating functions.
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The first two commits on this ticket implement testing-related RFCs, as recommended at the end of this Community post. They are not directly related to
linearizeTransform.The third commit adds a free function that takes a Transform and linearizes it. Per Effective C++, it's been placed in a different header from Transform itself; I expect the factory functions mentioned in RFC-346 will go in the same file once they're implemented.