Lines Matching refs:jacobian
55 double jacobian[9];
56 parameterization.ComputeJacobian(x, jacobian);
60 EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
106 double jacobian[4 * 3];
107 parameterization.ComputeJacobian(x, jacobian);
113 EXPECT_EQ(jacobian[jacobian_cursor], delta_cursor == k ? 1.0 : 0.0);
118 EXPECT_EQ(jacobian[jacobian_cursor], 0.0);
184 // Autodiff jacobian at delta_x = 0.
188 double jacobian[12];
189 param.ComputeJacobian(x, jacobian);
191 EXPECT_TRUE(IsFinite(jacobian[i]));
192 EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
193 << "Jacobian mismatch: i = " << i
195 << "\n Actual \n" << ConstMatrixRef(jacobian, 4, 3);
