bunch of minor fixes

gtsam/navigation/ImuFactor.cpp

@@ -106,6 +106,7 @@ void PreintegratedImuMeasurements::mergeWith(const PreintegratedImuMeasurements&
   preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose();
 }
 #endif
+
 //------------------------------------------------------------------------------
 // ImuFactor methods
 //------------------------------------------------------------------------------

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);

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;