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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/vertigo/gtsam/DerivedValue.h
+1 -1
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@@ -72,7 +72,7 @@ public:
/**
* Clone this value (normal clone on the heap, delete with 'delete' operator)
*/
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
virtual std::shared_ptr<gtsam::Value> clone() const {
return std::make_shared<DERIVED>(static_cast<const DERIVED&>(*this));
}
corelib/src/optimizer/vertigo/gtsam/betweenFactorMaxMix.h
+2 -2
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@@ -12,7 +12,7 @@
#include <Eigen/Eigen>
#include <gtsam/config.h>
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR==4 && GTSAM_VERSION_MINOR>=1)
#if GTSAM_VERSION_NUMERIC >= 40100
namespace gtsam {
gtsam::Matrix inverse(const gtsam::Matrix & matrix)
{
@@ -49,7 +49,7 @@ namespace vertigo {
double nu1 = 1.0/sqrt(gtsam::inverse(info1).determinant());
double l1 = nu1 * exp(-0.5*m1);
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR==4 && GTSAM_VERSION_MINOR>=1)
#if GTSAM_VERSION_NUMERIC >= 40100
double m2 = nullHypothesisModel->squaredMahalanobisDistance(error);
#else
double m2 = nullHypothesisModel->distance(error);
corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h
+2 -2
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@@ -30,7 +30,7 @@ namespace vertigo {
betweenFactor(key1, key2, measured, model) {};
gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableLinear& s,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H1 = OptionalNone,
OptionalMatrixType H2 = OptionalNone,
OptionalMatrixType H3 = OptionalNone) const
@@ -70,7 +70,7 @@ namespace vertigo {
betweenFactor(key1, key2, measured, model) {};
gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableSigmoid& s,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H1 = OptionalNone,
OptionalMatrixType H2 = OptionalNone,
OptionalMatrixType H3 = OptionalNone) const
corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+3 -3
View File
@@ -76,7 +76,7 @@ namespace vertigo {
/** between operation */
inline SwitchVariableLinear between(const SwitchVariableLinear& l2,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H1=OptionalNone,
OptionalMatrixType H2=OptionalNone) const {
#else
@@ -121,7 +121,7 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
typedef OptionalJacobian<3, 3> ChartJacobian;
typedef gtsam::Vector TangentVector;
static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
#else
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
@@ -129,7 +129,7 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
return origin.localCoordinates(other);
}
static vertigo::SwitchVariableLinear Retract(const vertigo::SwitchVariableLinear& g, const TangentVector& v,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
#else
ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
+3 -3
View File
@@ -76,7 +76,7 @@ namespace vertigo {
/** between operation */
inline SwitchVariableSigmoid between(const SwitchVariableSigmoid& l2,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
OptionalMatrixType H1=OptionalNone,
OptionalMatrixType H2=OptionalNone) const {
#else
@@ -122,7 +122,7 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
typedef OptionalJacobian<3, 3> ChartJacobian;
typedef gtsam::Vector TangentVector;
static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
#else
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
@@ -130,7 +130,7 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
return origin.localCoordinates(other);
}
static vertigo::SwitchVariableSigmoid Retract(const vertigo::SwitchVariableSigmoid& g, const TangentVector& v,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
#if GTSAM_VERSION_NUMERIC >= 40300
ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
#else
ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {