static int runAllTests(TestResult &result)
size_t dim() const override
get the dimension of the factor (number of rows on linearization)
#define EXPECT_LONGS_EQUAL(expected, actual)
#define EXPECT(condition)
Factor used in Shonan Averaging to clamp down gauge freedom.
TEST(ShonanAveraging, GaugeFactorLows)
Matrix< SCALARA, Dynamic, Dynamic, opt_A > A
const gtsam::Symbol key('X', 0)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
std::shared_ptr< GaussianFactor > linearize(const Values &c) const override
linearize to a GaussianFactor
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Thu Nov 28 2024 04:09:04