From be64222b1088619b8317ddf4a09245004a71542a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 16 May 2025 15:44:55 -0400
Subject: [PATCH 1/3] Fix comment

---
 examples/GEKF_Rot3Example.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/GEKF_Rot3Example.cpp b/examples/GEKF_Rot3Example.cpp
index d81e01d54..fcee93632 100644
--- a/examples/GEKF_Rot3Example.cpp
+++ b/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

From f81879aff6b53e385caee0db561833348f262efa Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 16 May 2025 15:45:07 -0400
Subject: [PATCH 2/3] Fix include for Retract

---
 examples/IEKF_NavstateExample.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/examples/IEKF_NavstateExample.cpp b/examples/IEKF_NavstateExample.cpp
index ef3ef204b..fcbede1ef 100644
--- a/examples/IEKF_NavstateExample.cpp
+++ b/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;
 }

From 6cf3616179bf72a6539e6c50e9313e20d5956d8e Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 16 May 2025 15:45:26 -0400
Subject: [PATCH 3/3] Upgrade cmake version

---
 gtsam/3rdparty/GeographicLib/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/3rdparty/GeographicLib/CMakeLists.txt b/gtsam/3rdparty/GeographicLib/CMakeLists.txt
index a0d54a5db..25c923e01 100644
--- a/gtsam/3rdparty/GeographicLib/CMakeLists.txt
+++ b/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