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fixed EdgeSE3XYZPrior not defined build error when using latest g2o version (#360 #363)

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This commit is contained in:
matlabbe
2019-03-03 15:27:32 -05:00
parent 530da08145
commit 45fa968076
2 changed files with 10 additions and 2 deletions
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4
corelib/src/optimizer/g2o/edge_se3_xyzprior.cpp
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@@ -26,6 +26,8 @@
#include "edge_se3_xyzprior.h" #include "edge_se3_xyzprior.h"
namespace rtabmap {
EdgeSE3XYZPrior::EdgeSE3XYZPrior() : BaseUnaryEdge<3, Eigen::Vector3d, g2o::VertexSE3>() EdgeSE3XYZPrior::EdgeSE3XYZPrior() : BaseUnaryEdge<3, Eigen::Vector3d, g2o::VertexSE3>()
{ {
information().setIdentity(); information().setIdentity();
@@ -105,3 +107,5 @@ void EdgeSE3XYZPrior::initialEstimate(const g2o::OptimizableGraph::VertexSet& /*
} }
v->setEstimate(newEstimate); v->setEstimate(newEstimate);
} }
}

8
corelib/src/optimizer/g2o/edge_se3_xyzprior.h
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@@ -24,13 +24,15 @@
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef G2O_EDGE_SE3_PRIOR_XYZ_H #ifndef RTAB_G2O_EDGE_SE3_PRIOR_XYZ_H
#define G2O_EDGE_SE3_PRIOR_XYZ_H #define RTAB_G2O_EDGE_SE3_PRIOR_XYZ_H
#include "g2o/types/slam3d/vertex_se3.h" #include "g2o/types/slam3d/vertex_se3.h"
#include "g2o/core/base_unary_edge.h" #include "g2o/core/base_unary_edge.h"
#include "g2o/types/slam3d/parameter_se3_offset.h" #include "g2o/types/slam3d/parameter_se3_offset.h"
namespace rtabmap {
/** /**
* \brief Prior for a 3D pose with constraints only in xyz direction * \brief Prior for a 3D pose with constraints only in xyz direction
*/ */
@@ -75,4 +77,6 @@ protected:
g2o::CacheSE3Offset* _cache; g2o::CacheSE3Offset* _cache;
}; };
}
#endif #endif