From be29bc422274c08fb9f22aeff902847dca148a86 Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice@zoox.com>
Date: Tue, 30 Nov 2021 03:28:47 -0800
Subject: [PATCH 1/4] .gitignore: swp files

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index cde059767..e6e38132f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,7 @@
 .idea
 *.pyc
 *.DS_Store
+*.swp
 /examples/Data/dubrovnik-3-7-pre-rewritten.txt
 /examples/Data/pose2example-rewritten.txt
 /examples/Data/pose3example-rewritten.txt

From f3cdd9d8cdd74357b372969e817d77f418ee19d9 Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice@zoox.com>
Date: Tue, 30 Nov 2021 03:29:16 -0800
Subject: [PATCH 2/4] don't return a const

---
 gtsam/geometry/Similarity3.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index fcaf0c874..ea7a6d049 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -40,8 +40,8 @@ static Point3Pairs subtractCentroids(const Point3Pairs &abPointPairs,
 }
 
 /// Form inner products x and y and calculate scale.
-static const double calculateScale(const Point3Pairs &d_abPointPairs,
-                                   const Rot3 &aRb) {
+static double calculateScale(const Point3Pairs &d_abPointPairs,
+                             const Rot3 &aRb) {
   double x = 0, y = 0;
   Point3 da, db;
   for (const Point3Pair& d_abPair : d_abPointPairs) {

From e15317ba4c75f513a4264467f071ad8ca1a8300c Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice@zoox.com>
Date: Tue, 30 Nov 2021 03:29:34 -0800
Subject: [PATCH 3/4] missing shared_ptr include

---
 gtsam/inference/BayesTree.h | 2 ++
 gtsam/inference/Factor.h    | 1 +
 2 files changed, 3 insertions(+)

diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index 7199da0ad..cc003d8dc 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -19,6 +19,8 @@
 
 #pragma once
 
+#include <boost/shared_ptr.hpp>
+
 #include <gtsam/inference/Key.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/base/ConcurrentMap.h>
diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h
index 6ea81030a..c0ea4ea78 100644
--- a/gtsam/inference/Factor.h
+++ b/gtsam/inference/Factor.h
@@ -22,6 +22,7 @@
 #pragma once
 
 #include <boost/serialization/nvp.hpp>
+#include <boost/shared_ptr.hpp>
 
 #include <gtsam/base/types.h>
 #include <gtsam/base/FastVector.h>

From 62c22c7fcce668b705c37a38c73a29778ee9d295 Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice@zoox.com>
Date: Tue, 30 Nov 2021 03:30:06 -0800
Subject: [PATCH 4/4] ParseMeasurement<Pose2> initializer list needs an extra
 argument

---
 gtsam/slam/dataset.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index c8a8b15c5..d7e925bd9 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -392,7 +392,7 @@ parseMeasurements(const std::string &filename,
                   size_t maxIndex) {
   ParseMeasurement<Pose2> parse{model ? createSampler(model) : nullptr,
                                 maxIndex, true, NoiseFormatAUTO,
-                                KernelFunctionTypeNONE};
+                                KernelFunctionTypeNONE, nullptr};
   return parseToVector<BinaryMeasurement<Pose2>>(filename, parse);
 }