Description:
When calling methods like transformFrom or transformPoseTo on gtsam.Pose3 from MATLAB and attempting to retrieve Jacobians, there seems to be no way to pass valid Jacobian output arguments that the wrapper accepts.
Example:
analytic_H1 = [];
analytic_H2 = [];
[y, analytic_H1, analytic_H2] = T.transformFrom(P, analytic_H1, analytic_H2);
yields
Error using gtsam.Pose3/transformFrom
Arguments do not match any overload of function gtsam.Pose3.transformFrom
Expected behavior:
It should be possible to retrieve Jacobians from these methods in MATLAB. The documentation says:
help(gtsam.Pose3):
...
transformPoseFrom(Pose3 aTb) : returns gtsam::Pose3
transformPoseFrom(Pose3 pose, Ref<MatrixXd> Hself, Ref<MatrixXd> HaTb) : returns gtsam::Pose3
...
Actual behavior:
No combination of arguments is accepted by the wrapper for Jacobian outputs.
Description:
When calling methods like
transformFromortransformPoseToongtsam.Pose3from MATLAB and attempting to retrieve Jacobians, there seems to be no way to pass valid Jacobian output arguments that the wrapper accepts.Example:
yields
Expected behavior:
It should be possible to retrieve Jacobians from these methods in MATLAB. The documentation says:
Actual behavior:
No combination of arguments is accepted by the wrapper for Jacobian outputs.