12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix for issue #38 (gcc specific issue, but fix works for all)

release/4.3a0
Frank Dellaert 2019-06-02 17:48:24 -04:00
parent 87ab40d48d
commit 692959f0f3
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam_unstable/slam/SmartRangeFactor.h
View File

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