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fix ros gtsam 4.2a9 build (#1108)

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This commit is contained in:
Borong Yuan
2023-08-07 07:33:23 -07:00
committed by GitHub
parent a94a4c9802
commit f0ba56bf5e
9 changed files with 26 additions and 26 deletions
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corelib/src/optimizer/gtsam/GravityFactor.h
+10 -10
View File
@@ -63,14 +63,14 @@ public:
/** vector of errors */
Vector attitudeError(const Rot3& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalJacobian<2,3> H = {}) const;
#else
OptionalJacobian<2,3> H = boost::none) const;
#endif
/** Serialization function */
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -91,7 +91,7 @@ class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
public:
/// shorthand for a smart pointer to a factor
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
typedef std::shared_ptr<Rot3GravityFactor> shared_ptr;
#else
typedef boost::shared_ptr<Rot3GravityFactor> shared_ptr;
@@ -121,7 +121,7 @@ public:
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
return std::static_pointer_cast<gtsam::NonlinearFactor>(
#else
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
@@ -138,7 +138,7 @@ public:
/** vector of errors */
virtual Vector evaluateError(const Rot3& nRb, //
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<Matrix&> H = boost::none) const {
@@ -153,7 +153,7 @@ public:
}
private:
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
@@ -182,7 +182,7 @@ class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
public:
/// shorthand for a smart pointer to a factor
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
typedef std::shared_ptr<Pose3GravityFactor> shared_ptr;
#else
typedef boost::shared_ptr<Pose3GravityFactor> shared_ptr;
@@ -211,7 +211,7 @@ public:
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
return std::static_pointer_cast<gtsam::NonlinearFactor>(
#else
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
@@ -228,7 +228,7 @@ public:
/** vector of errors */
virtual Vector evaluateError(const Pose3& nTb, //
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<Matrix&> H = boost::none) const {
@@ -249,7 +249,7 @@ public:
}
private:
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
corelib/src/optimizer/gtsam/XYFactor.h
+1 -1
View File
@@ -42,7 +42,7 @@ public:
// @param p the pose in Pose2
// @param H the optional Jacobian matrix, which use boost optional and has default null pointer
gtsam::Vector evaluateError(const VALUE& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H = boost::none) const {
corelib/src/optimizer/gtsam/XYZFactor.h
+2 -2
View File
@@ -42,7 +42,7 @@ public:
// @param p the pose in Pose
// @param H the optional Jacobian matrix, which use boost optional and has default null pointer
gtsam::Vector evaluateError(const gtsam::Pose3& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H = boost::none) const {
@@ -54,7 +54,7 @@ public:
return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
}
gtsam::Vector evaluateError(const gtsam::Point3& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H = boost::none) const {