From 68327a193643a18c2dd414e95fe0ca37200c46b5 Mon Sep 17 00:00:00 2001
From: Dan McGann <dmcgann@andrew.cmu.edu>
Date: Tue, 4 Mar 2025 18:05:42 -0500
Subject: [PATCH] Update test bearingPose3toPose3

Update this unit test to actually test the pose3 to pose3 function and
jacobians.
---
 gtsam/geometry/tests/testPose3.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index 0e83dc2b7..f3ad34b98 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -769,8 +769,9 @@ TEST(Pose3, PoseToPoseBearing) {
   EXPECT(assert_equal(Unit3(0,1,0), xl1.bearing(xl2, actualH1, actualH2), 1e-9));
 
   // Check numerical derivatives
-  expectedH1 = numericalDerivative21(bearing_proxy, xl1, l2);
-  H2block = numericalDerivative22(bearing_proxy, xl1, l2);
+  std::function<Unit3(const Pose3&, const Pose3&)> f = [](const Pose3& a, const Pose3& b) { return a.bearing(b); };
+  expectedH1 = numericalDerivative21(f, xl1, xl2);
+  expectedH2 = numericalDerivative22(f, xl1, xl2);
   EXPECT(assert_equal(expectedH1, actualH1, 1e-5));
   EXPECT(assert_equal(expectedH2, actualH2, 1e-5));
 }