gtsam 4.2.0
gtsam
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In nonlinear factors, the error function returns the negative log-likelihood as a non-linear function of the values in a.
The Factor::error simply extracts the.
The idea is that Gaussian factors have a quadratic error function that locally approximates the negative log-likelihood, and are obtained by linearizing the nonlinear error function at a given linearization.
The derived class,