api improvement to FGC

Author: dehann

src/services/FactorGradients.jl

@@ -161,6 +161,9 @@ function (fgc::FactorGradientsCached!)(meas_pts...)
   return fgc.cached_gradients
 end
 
+# convenience function to update the gradients based on current measurement and point information stored in the fgc object
+(fgc::FactorGradientsCached!)() = fgc(fgc.measurement..., fgc.currentPoints...)
+
 """
     $SIGNATURES
 

test/testFactorGradients.jl

@@ -38,10 +38,16 @@ J__
 @test norm( J__ - [0 0 1 0; 0 0 0 1; 1 0 0 0; 0 1 0 0] ) < 1e-4
 
 
-##
+## build new functor container
 
 gradFct = FactorGradientsCached!(pp, varTypes, measurement, pts);
 
+## test grad calc for current values
+
+J_c = gradFct()
+
+@test norm( J_c - [0 0 1 0; 0 0 0 1; 1 0 0 0; 0 1 0 0] ) < 1e-4
+
 ##
 
 J = gradFct(measurement..., pts...)