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.)
TEST(BearingRangeFactor, 2D)
Evaluate derivatives of a nonlinear factor numerically.
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
Test harness methods for expressions.
BearingRangeFactor< Pose2, Point2 > BearingRangeFactor2D
#define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance)
Check the Jacobians produced by an expression against finite differences.
BearingRangeFactor< Pose3, Point3 > BearingRangeFactor3D
std::uint64_t Key
Integer nonlinear key type.
3D Pose manifold SO(3) x R^3 and group SE(3)
a single factor contains both the bearing and the range to prevent handle to pair bearing and range f...
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:16:08