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28 using namespace gtsam;
35 double measurement2D(10.0);
static int runAllTests(TestResult &result)
#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance)
Check the Jacobians produced by a factor against finite differences.
const gtsam::Key pointKey
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Evaluate derivatives of a nonlinear factor numerically.
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
Test harness methods for expressions.
Unit3 bearing(const Point3 &point, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 3 > Hpoint={}) const
Serializable factor induced by a bearing measurement.
#define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance)
Check the Jacobians produced by an expression against finite differences.
Represents a 3D point on a unit sphere.
std::uint64_t Key
Integer nonlinear key type.
gtsam
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autogenerated on Fri Nov 1 2024 03:39:40