27 using namespace gtsam;
59 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 60 using namespace serializationTestHelpers;
BearingRange< Pose3, Point3 > BearingRange3D
#define GTSAM_CONCEPT_ASSERT(concept)
static int runAllTests(TestResult &result)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
static BearingRange Measure(const A1 &a1, const A2 &a2, OptionalJacobian< dimension, traits< A1 >::dimension > H1={}, OptionalJacobian< dimension, traits< A2 >::dimension > H2={})
Prediction function that stacks measurements.
Represents a 3D point on a unit sphere.
BearingRange2D br2D(1, 2)
#define EXPECT(condition)
TEST(BearingRange2D, Concept)
BearingRange< Pose2, Point2 > BearingRange2D
BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1)