checkFunction.h

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#pragma once
 
#include <tvm/api.h>
#include <tvm/defs.h>
 
#include <optional>
#include <vector>
 
namespace tvm
{
 
namespace utils
{
 
class CheckOptions
{
public:
  struct CheckConfiguration
  {
    std::optional<Eigen::VectorXd> value = std::nullopt;
    std::optional<Eigen::VectorXd> velocity = std::nullopt;
    std::optional<Eigen::VectorXd> acceleration = std::nullopt;
    size_t samples = 1;
  };
 
  CheckOptions() : step(1e-7), prec(1e-6), verbose(true) {}
  CheckOptions(double s, double p, bool v) : step(s), prec(p), verbose(v) {}
  double step;
  double prec;
  bool verbose;
  size_t samples = 0;
  std::vector<CheckConfiguration> configs = {};
};
 
bool TVM_DLLAPI checkJacobian(FunctionPtr f, CheckOptions opt = CheckOptions());
 
bool TVM_DLLAPI checkVelocity(FunctionPtr f, CheckOptions opt = CheckOptions());
 
bool TVM_DLLAPI checkNormalAcceleration(FunctionPtr f, CheckOptions opt = CheckOptions());
 
bool TVM_DLLAPI checkFunction(FunctionPtr f, CheckOptions opt = CheckOptions());
} // namespace utils
 
} // namespace tvm