Error when using BearingRangeFactor<Pose3, Point3>: ‘const Pose’ has no member named ‘bearing’

I am trying to get the PlanarSLAMExample.cpp to run for a 3D system by following the example and changing the variables to 3D as in the attached PlanarSLAMExample3D.cpp. However, when I try to instantiate BearingRangeFactor<Pose3, Point3> in line 145 I get the error: ‘const Pose’ has no member named ‘bearing’

I checked the BearingRangeFactor.h which calls the bearing function that is not implemented in Pose3. Is there a way to get the BearingRangeFactor to work for 3D in this version of gtsam ?

Comments (1)