From 5ea99c4f42a8a2304b9f30445dd550a959da8bfa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 7 Apr 2021 16:45:05 -0400
Subject: [PATCH] bunch of minor fixes

---
 gtsam/navigation/ImuFactor.cpp | 1 +
 gtsam/navigation/ImuFactor.h   | 2 ++
 gtsam/nonlinear/GncOptimizer.h | 2 +-
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 98b1e6f9d..28c0461b1 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -106,6 +106,7 @@ void PreintegratedImuMeasurements::mergeWith(const PreintegratedImuMeasurements&
   preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose();
 }
 #endif
+
 //------------------------------------------------------------------------------
 // ImuFactor methods
 //------------------------------------------------------------------------------
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 29bdb2a99..35207e452 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -192,6 +192,8 @@ public:
    * @param pose_j Current pose key
    * @param vel_j  Current velocity key
    * @param bias   Previous bias key
+   * @param preintegratedMeasurements The preintegreated measurements since the
+   * last pose.
    */
   ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
       const PreintegratedImuMeasurements& preintegratedMeasurements);
diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index d319fd5fd..e1efe7132 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -298,7 +298,7 @@ class GncOptimizer {
         break;
       case GncLossType::TLS:
         weightsConverged = true;
-        for (size_t i = 0; i < weights.size(); i++) {
+        for (int i = 0; i < weights.size(); i++) {
           if (std::fabs(weights[i] - std::round(weights[i]))
               > params_.weightsTol) {
             weightsConverged = false;