Merge pull request #2139 from borglab/fix/example

Fix example

examples/GEKF_Rot3Example.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file IEKF_Rot3Example.cpp
+ * @file GEKF_Rot3Example.cpp
  * @brief Left‐Invariant EKF on SO(3) with state‐dependent pitch/roll control
  * and a single magnetometer update.
  * @date April 25, 2025

examples/IEKF_NavstateExample.cpp

@@ -17,6 +17,7 @@
  */
 
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/VectorSpace.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/navigation/InvariantEKF.h>
 #include <gtsam/navigation/NavState.h>
@@ -73,23 +74,23 @@ int main() {
   z2 << 0.6, 0, 0;
 
   cout << "=== Init ===\nX: " << ekf.state() << "\nP: " << ekf.covariance()
-       << "\n\n";
+    << "\n\n";
 
   // --- first predict/update ---
   ekf.predict(dynamics(imu1), dt, Q);
   cout << "--- After predict 1 ---\nX: " << ekf.state()
-       << "\nP: " << ekf.covariance() << "\n\n";
+    << "\nP: " << ekf.covariance() << "\n\n";
   ekf.update(h_gps, z1, R);
   cout << "--- After update 1 ---\nX: " << ekf.state()
-       << "\nP: " << ekf.covariance() << "\n\n";
+    << "\nP: " << ekf.covariance() << "\n\n";
 
   // --- second predict/update ---
   ekf.predict(dynamics(imu2), dt, Q);
   cout << "--- After predict 2 ---\nX: " << ekf.state()
-       << "\nP: " << ekf.covariance() << "\n\n";
+    << "\nP: " << ekf.covariance() << "\n\n";
   ekf.update(h_gps, z2, R);
   cout << "--- After update 2 ---\nX: " << ekf.state()
-       << "\nP: " << ekf.covariance() << "\n";
+    << "\nP: " << ekf.covariance() << "\n";
 
   return 0;
 }

gtsam/3rdparty/GeographicLib/CMakeLists.txt

@@ -47,7 +47,7 @@ set (LIBVERSION_BUILD 17.1.2)
 string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
-cmake_minimum_required (VERSION 2.8.4) # This version was released 2011-02-16
+cmake_minimum_required (VERSION 3.5) # This version was released 2011-02-16
 
 # User-settable variables