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https://github.com/introlab/rtabmap.git
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fixed windows compilation
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@@ -804,7 +804,7 @@ std::list<std::pair<int, Transform> > computePath(
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if(nodeIter->second.costSoFar() > newCostSoFar)
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{
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// update the cost in the priority queue
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for(std::map<float, int>::iterator mapIter=pqmap.begin(); mapIter!=pqmap.end(); ++mapIter)
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for(std::multimap<float, int>::iterator mapIter=pqmap.begin(); mapIter!=pqmap.end(); ++mapIter)
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{
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if(mapIter->second == nodeIter->first)
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{
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@@ -911,7 +911,7 @@ float computePathLength(
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UASSERT(fromIndex < path.size() && toIndex < path.size() && fromIndex <= toIndex);
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if(fromIndex >= toIndex)
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{
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toIndex = path.size()-1;
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toIndex = (unsigned int)path.size()-1;
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}
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float x=0, y=0, z=0;
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for(unsigned int i=fromIndex; i<toIndex-1; ++i)
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