85 ValidateFunction<Real>& validator,
89 const std::vector<std::string>& methods ) {
101 auto update_uo = con_check.
update_uo( un, z );
102 auto update_un = con_check.
update_un( uo, z );
103 auto update_z = con_check.
update_z( un, uo );
105 auto value_uo = con_check.
value_uo( un, z );
106 auto value_un = con_check.
value_un( uo, z );
107 auto value_z = con_check.
value_z( uo, un );
111 if( std::find(methods.begin(),methods.end(),
"applyJacobian_uo") != methods.end() ) {
113 validator.derivative_check( value_uo, J, update_uo, *c, *vu, uo,
"norm(J_uo*vec)" );
116 if( std::find(methods.begin(),methods.end(),
"applyJacobian_un") != methods.end() ) {
118 validator.derivative_check( value_un, J, update_un, *c, *vu, un,
"norm(J_un*vec)" );
121 if( std::find(methods.begin(),methods.end(),
"applyJacobian_z") != methods.end() ) {
123 validator.derivative_check( value_z, J, update_z, *c, *vz, z,
"norm(J_z*vec)" );
129 if( std::find(methods.begin(),methods.end(),
"applyAdjointJacobian_uo") != methods.end() ) {
132 validator.adjoint_consistency_check( J, aJ, update_uo, *c, *vu, uo,
133 "Jacobian with respect to uo",
"J_uo");
136 if( std::find(methods.begin(),methods.end(),
"applyAdjointJacobian_un") != methods.end() ) {
139 validator.adjoint_consistency_check( J, aJ, update_un, *c, *vu, un,
140 "Jacobian with respect to un",
"J_un");
143 if( std::find(methods.begin(),methods.end(),
"applyAdjointJacobian_z") != methods.end() ) {
146 validator.adjoint_consistency_check( J, aJ, update_z, *vz, *c, z,
147 "Jacobian with respect to z",
"J_z");
153 if( std::find(methods.begin(),methods.end(),
"solve") != methods.end() ) {
154 auto S = con_check.
solve_un( uo, z );
155 validator.solve_check( S, value_un, update_un, *c, un,
"Dynamic Constraint");
159 if( std::find(methods.begin(),methods.end(),
"applyInverseJacobian_un") != methods.end() ) {
162 validator.inverse_check( J, iJ, update_un, *vu, un,
163 "Jacobian with respect to un",
"J_un");
167 if( std::find(methods.begin(),methods.end(),
"applyInverseAdjointJacobian_un") != methods.end() ) {
170 validator.inverse_check( aJ, iaJ, update_un, *vu, un,
171 "adjoint Jacobian with respect to un",
"aJ_un");
177 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_uo_uo") != methods.end() ) {
179 auto aJl = fix_direction( aJ, *l );
181 validator.derivative_check( aJl, aH, update_uo, *c, *vu, uo,
"H_uo_uo");
184 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_uo_un") != methods.end() ) {
186 auto aJl = fix_direction( aJ, *l );
188 validator.derivative_check( aJl, aH, update_uo, *c, *vu, uo,
"H_uo_un");
191 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_uo_z") != methods.end() ) {
193 auto aJl = fix_direction( aJ, *l );
195 validator.derivative_check( aJl, aH, update_uo, *vz, *vu, uo,
"H_uo_z");
200 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_un_uo") != methods.end() ) {
202 auto aJl = fix_direction( aJ, *l );
204 validator.derivative_check( aJl, aH, update_un, *c, *vu, un,
"H_un_uo");
207 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_un_un") != methods.end() ) {
209 auto aJl = fix_direction( aJ, *l );
211 validator.derivative_check( aJl, aH, update_un, *c, *vu, un,
"H_un_un");
214 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_un_z") != methods.end() ) {
216 auto aJl = fix_direction( aJ, *l );
218 validator.derivative_check( aJl, aH, update_un, *vz, *vu, un,
"H_un_z");
223 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_z_uo") != methods.end() ) {
225 auto aJl = fix_direction( aJ, *l );
227 validator.derivative_check( aJl, aH, update_z, *c, *vz, z,
"H_z_uo");
230 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_z_un") != methods.end() ) {
232 auto aJl = fix_direction( aJ, *l );
234 validator.derivative_check( aJl, aH, update_z, *c, *vz, z,
"H_z_un");
237 if( std::find(methods.begin(),methods.end(),
"applyAdjointHessian_z_z") != methods.end() ) {
239 auto aJl = fix_direction( aJ, *l );
241 validator.derivative_check( aJl, aH, update_z, *vz, *vz, z,
"H_z_z");