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Merge pull request #1181 from borglab/fix/warnings 

Fix warnings and docs
release/4.3a0
Jose Luis Blanco-Claraco 2022-05-01 09:57:37 +02:00 committed by GitHub
parent 69310840af 287279fc42
commit f4bcb11ec6
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 17 additions and 6 deletions
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2
gtsam/geometry/Pose2.cpp
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@ -365,7 +365,7 @@ boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) {
"Pose2:Align expects 2*N matrices of equal shape."); "Pose2:Align expects 2*N matrices of equal shape.");
} }
Point2Pairs ab_pairs; Point2Pairs ab_pairs;
for (size_t j=0; j < a.cols(); j++) { for (Eigen::Index j = 0; j < a.cols(); j++) {
ab_pairs.emplace_back(a.col(j), b.col(j)); ab_pairs.emplace_back(a.col(j), b.col(j));
} }
return Pose2::Align(ab_pairs); return Pose2::Align(ab_pairs);

2
gtsam/geometry/Pose3.cpp
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@ -473,7 +473,7 @@ boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
"Pose3:Align expects 3*N matrices of equal shape."); "Pose3:Align expects 3*N matrices of equal shape.");
} }
Point3Pairs abPointPairs; Point3Pairs abPointPairs;
for (size_t j=0; j < a.cols(); j++) { for (Eigen::Index j = 0; j < a.cols(); j++) {
abPointPairs.emplace_back(a.col(j), b.col(j)); abPointPairs.emplace_back(a.col(j), b.col(j));
} }
return Pose3::Align(abPointPairs); return Pose3::Align(abPointPairs);

6
gtsam/navigation/AHRSFactor.h
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@ -90,7 +90,11 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
/** /**
* Add a single Gyroscope measurement to the preintegration. * Add a single Gyroscope measurement to the preintegration.
* @param measureOmedga Measured angular velocity (in body frame) * Measurements are taken to be in the sensor
* frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegratedRotationParams` (if provided).
*
* @param measuredOmega Measured angular velocity (as given by the sensor)
* @param deltaT Time step * @param deltaT Time step
*/ */
void integrateMeasurement(const Vector3& measuredOmega, double deltaT); void integrateMeasurement(const Vector3& measuredOmega, double deltaT);

7
gtsam/navigation/CombinedImuFactor.h
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@ -208,8 +208,11 @@ public:
/** /**
* Add a single IMU measurement to the preintegration. * Add a single IMU measurement to the preintegration.
* @param measuredAcc Measured acceleration (in body frame, as given by the * Both accelerometer and gyroscope measurements are taken to be in the sensor
* sensor) * frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegrationParams`.
*
* @param measuredAcc Measured acceleration (as given by the sensor)
* @param measuredOmega Measured angular velocity (as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between two consecutive IMU measurements * @param dt Time interval between two consecutive IMU measurements
*/ */

6
gtsam/navigation/ImuFactor.h
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@ -121,7 +121,11 @@ public:
/** /**
* Add a single IMU measurement to the preintegration. * Add a single IMU measurement to the preintegration.
* @param measuredAcc Measured acceleration (in body frame, as given by the sensor) * Both accelerometer and gyroscope measurements are taken to be in the sensor
* frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegrationParams`.
*
* @param measuredAcc Measured acceleration (as given by the sensor)
* @param measuredOmega Measured angular velocity (as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between this and the last IMU measurement * @param dt Time interval between this and the last IMU measurement
*/ */