Fix the Jacobian in trust_region_minimizer_test.cc
The analytical Jacobians for Powell's singular function were
incorrect. Thanks to William Gandler for reporting this.
Change-Id: I780ffe449daa6935a79b904835e13edcf1cdffa2
diff --git a/internal/ceres/trust_region_minimizer_test.cc b/internal/ceres/trust_region_minimizer_test.cc
index 8993273..a1c48b6 100644
--- a/internal/ceres/trust_region_minimizer_test.cc
+++ b/internal/ceres/trust_region_minimizer_test.cc
@@ -141,7 +141,7 @@
1.0,
0.0,
0.0,
- sqrt(10.0) * 2.0 * (x1 - x4) * (1.0 - x4);
+ sqrt(10.0) * 2.0 * (x1 - x4);
// clang-format on
}
if (col2) {
@@ -149,7 +149,7 @@
jacobian_matrix.col(column_index++) <<
10.0,
0.0,
- 2.0*(x2 - 2.0*x3)*(1.0 - 2.0*x3),
+ 2.0*(x2 - 2.0*x3),
0.0;
// clang-format on
}
@@ -159,7 +159,7 @@
jacobian_matrix.col(column_index++) <<
0.0,
sqrt(5.0),
- 2.0*(x2 - 2.0*x3)*(x2 - 2.0),
+ 4.0*(2.0*x3 - x2),
0.0;
// clang-format on
}
@@ -170,7 +170,7 @@
0.0,
-sqrt(5.0),
0.0,
- sqrt(10.0) * 2.0 * (x1 - x4) * (x1 - 1.0);
+ sqrt(10.0) * 2.0 * (x4 - x1);
// clang-format on
}
VLOG(1) << "\n" << jacobian_matrix;
@@ -188,7 +188,7 @@
if (col3) {
gradient[column_index++] =
- f2 * sqrt(5.0) + f3 * (2.0 * 2.0 * (2.0 * x3 - x2));
+ f2 * sqrt(5.0) + f3 * (4.0 * (2.0 * x3 - x2));
}
if (col4) {
