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add no jacobian version of evaluateerror

release/4.3a0
Akshay Krishnan 2024-09-08 20:17:06 -04:00
parent fd0ecf0cf0
commit 26a1ccabfc
1 changed files with 3 additions and 0 deletions
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gtsam/sfm/TranslationFactor.h
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@ -116,6 +116,9 @@ class BilinearAngleTranslationFactor
const SharedNoiseModel& noiseModel) const SharedNoiseModel& noiseModel)
: Base(noiseModel, a, b, scale_key), measured_w_aZb_(w_aZb.point3()) {} : 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) * @brief Caclulate error: (scale * (Tb - Ta) - measurement)
* where Tb and Ta are Point3 translations and measurement is * where Tb and Ta are Point3 translations and measurement is