From 8e7892875a91fbe8c8fd34ba1001e8a0fe1c0752 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 6 Nov 2018 17:32:31 -0500
Subject: [PATCH] Check GeographicLib version

---
 gtsam/navigation/tests/testGPSFactor.cpp     | 12 +++++++++---
 gtsam/navigation/tests/testGeographicLib.cpp | 17 +++++++++++------
 2 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp
index 293bffa00..9457f501d 100644
--- a/gtsam/navigation/tests/testGPSFactor.cpp
+++ b/gtsam/navigation/tests/testGPSFactor.cpp
@@ -22,19 +22,26 @@
 
 #include <CppUnitLite/TestHarness.h>
 
+#include <GeographicLib/Config.h>
 #include <GeographicLib/LocalCartesian.hpp>
 
 using namespace std;
 using namespace gtsam;
 using namespace GeographicLib;
 
+#if GEOGRAPHICLIB_VERSION_MINOR<37
+static const auto& kWGS84 = Geocentric::WGS84;
+#else
+static const auto& kWGS84 = Geocentric::WGS84();
+#endif
+
 // *************************************************************************
 namespace example {
 // ENU Origin is where the plane was in hold next to runway
 const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
 
 // Convert from GPS to ENU
-LocalCartesian origin_ENU(lat0, lon0, h0, Geocentric::WGS84);
+LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
 
 // Dekalb-Peachtree Airport runway 2L
 const double lat = 33.87071, lon = -84.30482, h = 274;
@@ -107,8 +114,7 @@ TEST(GPSData, init) {
   // GPS Reading 1 will be ENU origin
   double t1 = 84831;
   Point3 NED1(0, 0, 0);
-  LocalCartesian enu(35.4393283333333, -119.062986666667, 275.54,
-      Geocentric::WGS84);
+  LocalCartesian enu(35.4393283333333, -119.062986666667, 275.54, kWGS84);
 
   // GPS Readin 2
   double t2 = 84831.5;
diff --git a/gtsam/navigation/tests/testGeographicLib.cpp b/gtsam/navigation/tests/testGeographicLib.cpp
index aaa01b54d..6c495faf5 100644
--- a/gtsam/navigation/tests/testGeographicLib.cpp
+++ b/gtsam/navigation/tests/testGeographicLib.cpp
@@ -15,6 +15,7 @@
  * @author  Frank Dellaert
  */
 
+#include <GeographicLib/Config.h>
 #include <GeographicLib/Geocentric.hpp>
 #include <GeographicLib/UTMUPS.hpp>
 #include <GeographicLib/LocalCartesian.hpp>
@@ -29,21 +30,27 @@ using namespace std;
 using namespace GeographicLib;
 
 // Dekalb-Peachtree Airport runway 2L
-const double lat = 33.87071, lon = -84.30482, h = 274;
+static const double lat = 33.87071, lon = -84.30482, h = 274;
+
+#if GEOGRAPHICLIB_VERSION_MINOR<37
+static const auto& kWGS84 = Geocentric::WGS84;
+#else
+static const auto& kWGS84 = Geocentric::WGS84();
+#endif
 
 //**************************************************************************
 TEST( GeographicLib, Geocentric) {
 
   // From lat-lon to geocentric
   double X, Y, Z;
-  Geocentric::WGS84.Forward(lat, lon, h, X, Y, Z);
+  kWGS84.Forward(lat, lon, h, X, Y, Z);
   EXPECT_DOUBLES_EQUAL(526, X/1000, 1);
   EXPECT_DOUBLES_EQUAL(-5275, Y/1000, 1);
   EXPECT_DOUBLES_EQUAL(3535, Z/1000, 1);
 
   // From geocentric to lat-lon
   double lat_, lon_, h_;
-  Geocentric::WGS84.Reverse(X, Y, Z, lat_, lon_, h_);
+  kWGS84.Reverse(X, Y, Z, lat_, lon_, h_);
   EXPECT_DOUBLES_EQUAL(lat, lat_, 1e-5);
   EXPECT_DOUBLES_EQUAL(lon, lon_, 1e-5);
   EXPECT_DOUBLES_EQUAL(h, h_, 1e-5);
@@ -69,11 +76,9 @@ TEST( GeographicLib, UTM) {
 //**************************************************************************
 TEST( GeographicLib, ENU) {
 
-  const Geocentric& earth = Geocentric::WGS84;
-
   // ENU Origin is where the plane was in hold next to runway
   const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
-  LocalCartesian enu(lat0, lon0, h0, earth);
+  LocalCartesian enu(lat0, lon0, h0, kWGS84);
 
   // From lat-lon to geocentric
   double E, N, U;