Add test for nullsapce slam

Author: jakemclaughlin6

vesta_optimizers/CMakeLists.txt

@@ -56,4 +56,9 @@ if(BUILD_TESTING)
   target_link_libraries(test_marginalizer_comparison PRIVATE vesta_optimizers GTest::GTest GTest::Main)
   set_target_properties(test_marginalizer_comparison PROPERTIES CXX_STANDARD 20 CXX_STANDARD_REQUIRED YES)
   add_test(NAME test_marginalizer_comparison COMMAND test_marginalizer_comparison)
+
+  add_executable(test_nullspace_visual_slam test/test_nullspace_visual_slam.cpp)
+  target_link_libraries(test_nullspace_visual_slam PRIVATE vesta_optimizers GTest::GTest GTest::Main)
+  set_target_properties(test_nullspace_visual_slam PROPERTIES CXX_STANDARD 20 CXX_STANDARD_REQUIRED YES)
+  add_test(NAME test_nullspace_visual_slam COMMAND test_nullspace_visual_slam)
 endif()