extract ComputeResidual3D/ComputeJacobians3D, add 3D Jacobian unit test (2/4)#79
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extract ComputeResidual3D/ComputeJacobians3D, add 3D Jacobian unit test (2/4)#79woosik2510 wants to merge 1 commit into
woosik2510 wants to merge 1 commit into
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Verify wheel Jacobians via unit tests (FD check, 4-PR campaign)
Summary
Extracts ComputeResidual3D and ComputeJacobians3D as public static methods from compute_linear_system_3D, refactors the caller to use them, and adds test_UpdaterWheel3D.cpp which verifies all 12 pose Jacobians and 6 extrinsic Jacobians via central finite differences (tolerance 1e-6).
At zero residual phi_A = log(R_3D * R_O0toO1.T) = 0, so the first-order Jacobians are exact and no Jr correction is needed (unlike the 2D case).
No behavior change: compute_linear_system_3D produces identical H and res.
Verification
WheelJacobian3D.AnalyticalMatchesNumerical: PASSED
Chain
Chains off PR 1/4 (feat/unit-test-wheel-jacobian-2d -> #76).
Next in chain: PR 3/4 -- time-offset Jacobian extraction + unit test.