Add RangeFactorWithTransformBias #2109
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Pull Request Overview
This PR introduces a new factor, RangeFactorWithTransformBias, extending the existing range measurement framework by incorporating a bias term into the error evaluation.
- New class RangeFactorWithTransformBias added with an additional bias parameter in range computation.
- Implements deep-copy cloning, evaluateError overloads, and proper serialization.
Files not reviewed (1)
- gtsam/sam/sam.i: Language not supported
Comments suppressed due to low confidence (1)
gtsam/sam/RangeFactor.h:278
- The traits specialization for RangeFactorWithTransformBias references Testable<RangeFactorWithTransform<A1, A2, T>> instead of Testable<RangeFactorWithTransformBias<A1, A2, T>>. Please update this to maintain consistency with the new class.
struct traits<RangeFactorWithTransformBias<A1, A2, T> > : public Testable<RangeFactorWithTransform<A1, A2, T> > {};
ProfFan
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@ProfFan please (a) add a PR comment, (b) add a unit test. |
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