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Merge pull request #470 from borglab/fix/windows-build-error 

Fix FrobeniusBetweenFactor declaration
release/4.3a0
Frank Dellaert 2020-08-14 17:53:54 -04:00 committed by GitHub
parent 5b48e4123f 4194f97897
commit 7befacee9d
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2 changed files with 6 additions and 6 deletions
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10
.travis.yml
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@ -90,11 +90,11 @@ jobs:
env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
script: bash .travis.sh -b script: bash .travis.sh -b
# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests # on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
- stage: special # - stage: special
os: linux # os: linux
compiler: gcc # compiler: gcc
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON # env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
script: bash .travis.sh -t # script: bash .travis.sh -t
# -------- STAGE 2: TESTS ----------- # -------- STAGE 2: TESTS -----------
# on Mac, GCC # on Mac, GCC
- stage: test - stage: test

2
gtsam/slam/FrobeniusFactor.h
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@ -92,7 +92,7 @@ class FrobeniusFactor : public NoiseModelFactor2<Rot, Rot> {
* and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap. * and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.
*/ */
template <class Rot> template <class Rot>
GTSAM_EXPORT class FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> { class GTSAM_EXPORT FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
Rot R12_; ///< measured rotation between R1 and R2 Rot R12_; ///< measured rotation between R1 and R2
Eigen::Matrix<double, Rot::dimension, Rot::dimension> Eigen::Matrix<double, Rot::dimension, Rot::dimension>
R2hat_H_R1_; ///< fixed derivative of R2hat wrpt R1 R2hat_H_R1_; ///< fixed derivative of R2hat wrpt R1