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Borong Yuanandmatlabbe
ebba7e4878
* correct the Jacobian calculation of GravityFactor * reimplement GravityFactor's analytical Jacobian * adopt some minor changes from the GTSAM mainline * use GTSAM's native AttitudeFactor instead of GravityFactor * add missing header file and namespace prefix * Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0. * Fixed cmake error when gtsam is not installed --------- Co-authored-by: matlabbe <[email protected]>