/**
 * @file    NonlinearFactor.cpp
 * @brief   nonlinear factor versions which assume a Gaussian noise on a measurement 
 * @brief   predicted by a non-linear function h nonlinearFactor
 * @author  Frank Dellaert
 * @author  Richard Roberts
 *
 * Earlier prototype contributors:  Kai Ni, Carlos Nieto, Christian Potthast
 */

#include "NonlinearFactor.h"

using namespace std;
using namespace gtsam;

/* ************************************************************************* */