def METHOD_NAME(self):
    """
    Test for full version of ISAM2::update method
    """
    # Initialize iSAM with the first pose and points
    isam, result, nextPose = visual_isam.initialize(
        self.data, self.truth, self.isamOptions)
    remove_factor_indices = []
    constrained_keys = gtsam.KeyGroupMap()
    no_relin_keys = gtsam.KeyList()
    extra_reelim_keys = gtsam.KeyList()
    isamArgs = (remove_factor_indices, constrained_keys, no_relin_keys,
                extra_reelim_keys, False)
    # Main loop for iSAM: stepping through all poses
    for currentPose in range(nextPose, self.options.nrCameras):
        isam, result = visual_isam.step(self.data, isam, result,
                                        self.truth, currentPose, isamArgs)
    for i in range(len(self.truth.cameras)):
        pose_i = result.atPose3(symbol('x', i))
        self.gtsamAssertEquals(pose_i, self.truth.cameras[i].pose(), 1e-5)
    for j in range(len(self.truth.points)):
        point_j = result.atPoint3(symbol('l', j))
        self.gtsamAssertEquals(point_j, self.truth.points[j], 1e-5)