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Compute Jacobians using Auto Diff #9

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mherb opened this issue Mar 8, 2016 · 0 comments

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mherb commented Mar 8, 2016

Use Eigen AutoDiff as default to compute Jacobians in linearized System/Measurement Models. Jacobians should still be overridable by the user.

Implementation is likely similar to AutoDiffJacobian. See Eigen#634 for AutoDiff examples.

This requires the System Prediction/Measurement Function to be templated for the scalar type (and thus also remove virtual-ness of these).

mherb added the enhancement label

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