add no jacobian version of evaluateerror

borglab · Sep 9, 2024 · 26a1cca · 26a1cca
1 parent fd0ecf0
commit 26a1cca
Showing 1 changed file with 3 additions and 0 deletions.
diff --git 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