21 using namespace std::placeholders;
23 using namespace gtsam;
57 CHECK(assert_container_equality<Indices>({ 0 },
factor1.indices()));
60 const Indices t_indices = { 0, 1 };
64 CHECK(assert_container_equality<Indices>(t_indices,
factor2.indices()));
70 CHECK(assert_container_equality<Indices>({ 2 },
factor3.indices()));
84 Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
107 Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
129 Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
158 CHECK(assert_container_equality<Indices>(t_indices,
factor2.indices()));
166 CHECK(assert_container_equality<Indices>(r_indices,
factor3.indices()));
180 Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
202 Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
226 Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
250 Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
273 Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(