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Fix c++20 issue

release/4.3a0
Frank Dellaert 2025-01-22 23:20:41 -05:00
parent 8327812d29
commit d6ccb57241
1 changed files with 7 additions and 8 deletions
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15
gtsam/navigation/tests/testGPSFactor.cpp
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@ -38,18 +38,17 @@ static const auto& kWGS84 = Geocentric::WGS84();
// ************************************************************************* // *************************************************************************
namespace example { namespace example {
// ENU Origin is where the plane was in hold next to runway // ENU Origin is where the plane was in hold next to runway
const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274; static constexpr double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
// Convert from GPS to ENU // Convert from GPS to ENU
LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84); static const LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
// Dekalb-Peachtree Airport runway 2L // Dekalb-Peachtree Airport runway 2L
const double lat = 33.87071, lon = -84.30482, h = 274;\ static constexpr double lat = 33.87071, lon = -84.30482, h = 274;
// Random lever arm // Random lever arm
const Point3 leverArm(0.1, 0.2, 0.3); static const Point3 leverArm(0.1, 0.2, 0.3);
} // namespace example
}
// ************************************************************************* // *************************************************************************
TEST( GPSFactor, Constructor ) { TEST( GPSFactor, Constructor ) {
@ -135,7 +134,7 @@ TEST( GPSFactorArmCalib, Constructor ) {
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>( Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
[&factor, &leverArm](const Pose3& pose_arg) { [&factor](const Pose3& pose_arg) {
return factor.evaluateError(pose_arg, leverArm); return factor.evaluateError(pose_arg, leverArm);
}, },
T); T);
@ -235,7 +234,7 @@ TEST( GPSFactor2ArmCalib, Constructor ) {
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH1 = numericalDerivative11<Vector, NavState>( Matrix expectedH1 = numericalDerivative11<Vector, NavState>(
[&factor, &leverArm](const NavState& nav_arg) { [&factor](const NavState& nav_arg) {
return factor.evaluateError(nav_arg, leverArm); return factor.evaluateError(nav_arg, leverArm);
}, },
T); T);