From 287279fc4295e3d30bfe3775060e973cc9d9d985 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 30 Apr 2022 17:05:41 -0400
Subject: [PATCH] use Jose's suggestion

---
 gtsam/geometry/Pose2.cpp | 2 +-
 gtsam/geometry/Pose3.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index f54d6b034..b37674b92 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -365,7 +365,7 @@ boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) {
       "Pose2:Align expects 2*N matrices of equal shape.");
   }
   Point2Pairs ab_pairs;
-  for (size_t j=0; j < size_t(a.cols()); j++) {
+  for (Eigen::Index j = 0; j < a.cols(); j++) {
     ab_pairs.emplace_back(a.col(j), b.col(j));
   }
   return Pose2::Align(ab_pairs);
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index c79ff07c3..2da51a625 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -473,7 +473,7 @@ boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
       "Pose3:Align expects 3*N matrices of equal shape.");
   }
   Point3Pairs abPointPairs;
-  for (size_t j=0; j < size_t(a.cols()); j++) {
+  for (Eigen::Index j = 0; j < a.cols(); j++) {
     abPointPairs.emplace_back(a.col(j), b.col(j));
   }
   return Pose3::Align(abPointPairs);