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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/switchVariableLinear.h
+3 -3
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@@ -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) {