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

Merge pull request #1990 from borglab/fix/c++20_issue 

Fix c++20 issue in test
release/4.3a0
Frank Dellaert 2025-01-23 08:53:19 -05:00 committed by GitHub
parent 105e5911c1 d6ccb57241
commit 7b56d6689c
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 7 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
gtsam/navigation/tests/testGPSFactor.cpp
View File

@ -38,18 +38,17 @@ static const auto& kWGS84 = Geocentric::WGS84();
// *************************************************************************
namespace example {
// ENU Origin is where the plane was in hold next to runway
const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
static constexpr double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
// Convert from GPS to ENU
LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
static const LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
// Dekalb-Peachtree Airport runway 2L
const double lat = 33.87071, lon = -84.30482, h = 274;\
static constexpr double lat = 33.87071, lon = -84.30482, h = 274;
// Random lever arm
const Point3 leverArm(0.1, 0.2, 0.3);
}
static const Point3 leverArm(0.1, 0.2, 0.3);
} // namespace example
// *************************************************************************
TEST( GPSFactor, Constructor ) {
@ -135,7 +134,7 @@ TEST( GPSFactorArmCalib, Constructor ) {
// Calculate numerical derivatives
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
[&factor, &leverArm](const Pose3& pose_arg) {
[&factor](const Pose3& pose_arg) {
return factor.evaluateError(pose_arg, leverArm);
},
T);
@ -235,7 +234,7 @@ TEST( GPSFactor2ArmCalib, Constructor ) {
// Calculate numerical derivatives
Matrix expectedH1 = numericalDerivative11<Vector, NavState>(
[&factor, &leverArm](const NavState& nav_arg) {
[&factor](const NavState& nav_arg) {
return factor.evaluateError(nav_arg, leverArm);
},
T);