From 692959f0f31a6bfbaa29e8d814a6c51d4f16d490 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 2 Jun 2019 17:48:24 -0400
Subject: [PATCH] Fix for issue #38 (gcc specific issue, but fix works for all)

---
 gtsam_unstable/slam/SmartRangeFactor.h | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h
index b3d71d05f..c90a9646f 100644
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@@ -13,7 +13,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/base/timing.h>
 
 #include <list>
 #include <map>
@@ -89,7 +88,6 @@ class SmartRangeFactor: public NoiseModelFactor {
    * Raise runtime_error if not well defined.
    */
   Point2 triangulate(const Values& x) const {
-    // gttic_(triangulate);
     // create n circles corresponding to measured range around each pose
     std::list<Circle2> circles;
     size_t n = size();
@@ -100,7 +98,7 @@ class SmartRangeFactor: public NoiseModelFactor {
 
     Circle2 circle1 = circles.front();
     boost::optional<Point2> best_fh;
-    boost::optional<Circle2> bestCircle2;
+    auto bestCircle2 = boost::make_optional(false, circle1);  // fixes issue #38
 
     // loop over all circles
     for (const Circle2& it : circles) {
@@ -136,7 +134,6 @@ class SmartRangeFactor: public NoiseModelFactor {
     } else {
       throw std::runtime_error("triangulate failed");
     }
-    // gttoc_(triangulate);
   }
 
   /**