19template <
int Rows,
int Cols,
typename F>
21 constexpr double kEpsilon = 1e-5;
26 for (
int i = 0; i < Cols; ++i) {
28 dX_plus(i) += kEpsilon;
30 dX_minus(i) -= kEpsilon;
31 result.col(i) = (f(dX_plus) - f(dX_minus)) / (kEpsilon * 2.0);
50template <
int Rows,
int States,
int Inputs,
typename F,
typename... Args>
70template <
int Rows,
int States,
int Inputs,
typename F,
typename... Args>
auto NumericalJacobian(F &&f, const Vectord< Cols > &x)
Returns numerical Jacobian with respect to x for f(x).
Definition NumericalJacobian.h:20
Eigen::Matrix< double, Rows, Cols, Options, MaxRows, MaxCols > Matrixd
Definition EigenCore.h:21
Eigen::Vector< double, Size > Vectord
Definition EigenCore.h:12
auto NumericalJacobianU(F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
Returns numerical Jacobian with respect to u for f(x, u, ...).
Definition NumericalJacobian.h:71
auto NumericalJacobianX(F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
Returns numerical Jacobian with respect to x for f(x, u, ...).
Definition NumericalJacobian.h:51