Matlab toolbox testJacobianFactor fails

Built develop 34cdd4f on Ubuntu 18.04.1 LTS (bionic) with Matlab2018b.

Builds fine and all the make check tests pass.

However the matlab jacobian factor test fails:

Starting: testCal3Unified
Starting: testKalmanFilter
Starting: testJacobianFactor
Error using gtsam.CHECK (line 9)
CHECK actualCG.equals(expectedCG,1e-5) fails

Error in testJacobianFactor (line 59)
CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4));

Error in test_gtsam (line 12)
testJacobianFactor

This can be solved by adding a diagonal noise mode to the gaussian conditional on line 58 of testJacobianFactor.m, see attached for the edited file.

Once changed, a few more tests pass until testSerialization:

 Starting: testCal3Unified
Starting: testKalmanFilter
Starting: testJacobianFactor
Starting: testValues
Starting: testPriorFactor
Starting: testLocalizationExample
Starting: testOdometryExample
Starting: testPlanarSLAMExample
Starting: testPose2SLAMExample
Starting: testPose3SLAMExample
Starting: testSFMExample
Starting: testStereoVOExample
Starting: testVisualISAMExample
Starting: testUtilities
Starting: testSerialization
Error using gtsam_wrapper
Exception from gtsam:
unregistered class - derived class not registered or exported


Error in gtsam.Values/string_serialize (line 364)
        varargout{1} = gtsam_wrapper(1211, this, varargin{:});

Error in testSerialization (line 43)
serialized_values = values.string_serialize();

Error in test_gtsam (line 53)
    testSerialization

Will start looking into the serialisation test.

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