Awesome! I ran the CI and will merge once it passes. @yunzc you should probably also add a unit test to expose this "bug" so that it is caught in the future.

Sounds good @varunagrawal. I can't seem to find unit tests for Gnc in general, so it might be good to add that. I can add that to my TODO list.

@yunzc can we expect that soon? A lack of unit tests really hurts confidence in our code.

So do we merge this or wait for a unit test? @varunagrawal don't merge without asking anyone :-/

I'll take a stab at adding a unit test over the weekend! ok @dellaert , @varunagrawal and @yunzc ?

@lucacarlone sounds good! Thanks!

@yunzc - pleasure!

Yes, that's why I haven't merged it yet :)

@varunagrawal @yunzc : done! this is ready to go after the CI finishes.

We should be good to merge this now

Done!

yay!