linearizeNumerically bug

[Brice Rebsamen]

in linearizeNumerically I think dX should be created insice the factor loop instead of outside

https://bitbucket.org/gtborg/gtsam/src/357e739127deb7d9bec5dad2a5d117d9f4e4e1be/gtsam/nonlinear/factorTesting.h#lines-49

[Brice Rebsamen]

I am not too sure how this didn't affect current unit tests, but my unit test on my custom factor was failing because of that. After checking my jacobians for most of the day and banging my head against the walls, I figured thanks to gdb that this was happening. I moved dX in the loop and my unit test is now passing.

[Frank Dellaert]

Brice, we moved to Github: https://github.com/borglab/gtsam

I will open a new issue there.

Thanks for the find! Sorry about the wall-banging !

[Frank Dellaert]

Opened issue on Github