From 26a1ccabfc614f4fd82c4ed645c2dbedb9bef30b Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sun, 8 Sep 2024 20:17:06 -0400
Subject: [PATCH] add no jacobian version of evaluateerror

---
 gtsam/sfm/TranslationFactor.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index 40227eef6..9af3b184e 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -116,6 +116,9 @@ class BilinearAngleTranslationFactor
                                  const SharedNoiseModel& noiseModel)
       : Base(noiseModel, a, b, scale_key), measured_w_aZb_(w_aZb.point3()) {}
 
+  // Provide access to the Matrix& version of evaluateError:
+  using NoiseModelFactor2<Point3, Point3, Vector1>::evaluateError;
+
   /**
    * @brief Caclulate error: (scale * (Tb - Ta) - measurement)
    * where Tb and Ta are Point3 translations and measurement is