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fix warnings

release/4.3a0
Varun Agrawal 2023-01-28 16:27:27 -05:00
parent f2f1bbaf8c
commit a1ed2f9866
1 changed files with 2 additions and 3 deletions
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5
gtsam/slam/InitializePose3.cpp
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@ -206,12 +206,11 @@ Values InitializePose3::computeOrientationsGradient(
// Return correct rotations // Return correct rotations
const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
Values estimateRot; Values estimateRot;
for (const auto key_R : inverseRot) { for (const auto& key_R : inverseRot) {
const Key& key = key_R.first; const Key& key = key_R.first;
const Rot3& Ri = key_R.second;
if (key != initialize::kAnchorKey) { if (key != initialize::kAnchorKey) {
const Rot3& R = inverseRot.at(key); const Rot3& R = inverseRot.at(key);
if(setRefFrame) if (setRefFrame)
estimateRot.insert(key, Rref.compose(R.inverse())); estimateRot.insert(key, Rref.compose(R.inverse()));
else else
estimateRot.insert(key, R.inverse()); estimateRot.insert(key, R.inverse());