public static void jacobianPrint(
FunctionNtoM func,
FunctionNtoMxN jacobian,
double param[],
double tol,
double differenceScale) {
NumericalJacobianForward numerical = new NumericalJacobianForward(func, differenceScale);
DenseMatrix64F found = new DenseMatrix64F(func.getNumOfOutputsM(), func.getNumOfInputsN());
DenseMatrix64F expected = new DenseMatrix64F(func.getNumOfOutputsM(), func.getNumOfInputsN());
jacobian.process(param, found.data);
numerical.process(param, expected.data);
System.out.println("FOUND:");
found.print();
System.out.println("-----------------------------");
System.out.println("Numerical");
expected.print();
System.out.println("-----------------------------");
System.out.println("Large Differences");
for (int y = 0; y < found.numRows; y++) {
for (int x = 0; x < found.numCols; x++) {
double diff = Math.abs(found.get(y, x) - expected.get(y, x));
if (diff > tol) {
// double e = expected.get(y,x);
// double f = found.get(y,x);
System.out.print("1");
} else System.out.print("0");
}
System.out.println();
}
}
public static boolean jacobian(
FunctionNtoM func,
FunctionNtoMxN jacobian,
double param[],
double tol,
double differenceScale) {
NumericalJacobianForward numerical = new NumericalJacobianForward(func, differenceScale);
if (numerical.getNumOfOutputsM() != jacobian.getNumOfOutputsM())
throw new RuntimeException(
"M is not equal " + numerical.getNumOfOutputsM() + " " + jacobian.getNumOfOutputsM());
if (numerical.getNumOfInputsN() != jacobian.getNumOfInputsN())
throw new RuntimeException(
"N is not equal: " + numerical.getNumOfInputsN() + " " + jacobian.getNumOfInputsN());
DenseMatrix64F found = new DenseMatrix64F(func.getNumOfOutputsM(), func.getNumOfInputsN());
DenseMatrix64F expected = new DenseMatrix64F(func.getNumOfOutputsM(), func.getNumOfInputsN());
jacobian.process(param, found.data);
numerical.process(param, expected.data);
return MatrixFeatures.isIdentical(expected, found, tol);
}