add no jacobian version of evaluateerror

2024-09-08 20:17:06 -04:00 · 2024-09-08 20:17:06 -04:00 · 26a1ccabfc
parent fd0ecf0cf0
commit 26a1ccabfc
1 changed files with 3 additions and 0 deletions
--- 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