[SymForce] CheckDerivatives gets any linearizer

topic: fix_checkderivatives relative: allow_dense_linearizer_in_optimizer GitOrigin-RevId: f1134104eac3b00d07c16d949bbfb15c101ba94d
symforce-org · Jun 7, 2023 · d30d1b2 · d30d1b2
1 parent bdc665b
commit d30d1b2
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/symforce/opt/dense_linearizer.h b/symforce/opt/dense_linearizer.h
@@ -21,6 +21,7 @@ template <typename Scalar>
 class DenseLinearizer {
  public:
   using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor;
+  using LinearizationType = DenseLinearization<Scalar>;
 
   /**
    * Construct a Linearizer from factors and optional keys

diff --git a/symforce/opt/internal/derivative_checker.h b/symforce/opt/internal/derivative_checker.h
@@ -6,7 +6,6 @@
 #include <spdlog/spdlog.h>
 
 #include "../linearization.h"
-#include "../linearizer.h"
 #include "../util.h"
 #include "../values.h"
 
@@ -28,12 +27,13 @@ namespace internal {
  * Returns:
  *   true if `linearization` and numerical derivatives match
  */
-template <typename Scalar>
-bool CheckDerivatives(Linearizer<Scalar>& linearizer, const Values<Scalar>& values,
-                      const index_t& index, const SparseLinearization<Scalar>& linearization,
+template <typename Scalar, typename LinearizerType>
+bool CheckDerivatives(LinearizerType& linearizer, const Values<Scalar>& values,
+                      const index_t& index,
+                      const typename LinearizerType::LinearizationType& linearization,
                       const Scalar epsilon, const bool verbose = true) {
   // Make a copy of the linearization that we can relinearize into
-  SparseLinearization<Scalar> perturbed_linearization = linearization;
+  typename LinearizerType::LinearizationType perturbed_linearization = linearization;
 
   bool success = true;
 

diff --git a/symforce/opt/linearizer.h b/symforce/opt/linearizer.h
@@ -31,6 +31,7 @@ class Linearizer {
   using Scalar = ScalarType;
   using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor;
   using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor;
+  using LinearizationType = SparseLinearization<Scalar>;
 
   /**
    * Construct a Linearizer from factors and optional keys