search

Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization
https://simple-robotics.github.io/aligator/
BSD 2-Clause "Simplified" License
82 stars 8 forks source link

Even higher-order finite differences #129

Open ManifoldFR opened 4 months ago

ManifoldFR commented 4 months ago

Good idea for checking analytical derivatives to high accuracy.

ManifoldFR commented 4 months ago

https://github.com/roboptim/roboptim-core/blob/master/include/roboptim/core/decorator/finite-difference-gradient.hxx#L402-L449

And numerical recipes in C