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Avoid warning

release/4.3a0
Frank Dellaert 2023-01-28 12:57:47 -08:00
parent ee63a5bf6f
commit a132a36ff2
1 changed files with 2 additions and 3 deletions
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5
gtsam/slam/InitializePose3.cpp
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@ -206,11 +206,10 @@ Values InitializePose3::computeOrientationsGradient(
// Return correct rotations
const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
Values estimateRot;
for (const auto key_R : inverseRot) {
for (const auto& key_R : inverseRot) {
const Key& key = key_R.first;
const Rot3& Ri = key_R.second;
if (key != initialize::kAnchorKey) {
const Rot3& R = inverseRot.at(key);
const Rot3& R = key_R.second;
if(setRefFrame)
estimateRot.insert(key, Rref.compose(R.inverse()));
else