drake::solvers::test Namespace Reference

Functions
void	CheckConstraintEvalNonsymbolic (const Constraint &constraint, const Eigen::Ref< const AutoDiffVecXd > &x_autodiff, double tol)
	Compare the result between Eval<double>() and Eval<AutoDiffXd>(). More...

Function Documentation

CheckConstraintEvalNonsymbolic()

void drake::solvers::test::CheckConstraintEvalNonsymbolic	(	const Constraint &	constraint,
		const Eigen::Ref< const AutoDiffVecXd > &	x_autodiff,
		double	tol
	)

Compare the result between Eval<double>() and Eval<AutoDiffXd>().

Also compare the gradient in Eval<AutoDiffXd>() with a finite difference approximation.

Parameters

constraint	The constraint object to test.
x_autodiff	The point at which the Eval() methods are tested.
tol	Tolerance on the comparison of the results from Eval<double>() and Eval<AutoDiffXd>(). The tolerance on the comparison between the autodiff gradient and the finite difference approximation is sqrt(tolerance) to account for approximation error.