1 files changed, 30 insertions, 0 deletions
diff --git a/fix-gtsam42-vertigo-manifold-traits.patch b/fix-gtsam42-vertigo-manifold-traits.patch
new file mode 100644
index 0000000..8d7f830
--- /dev/null
+++ b/fix-gtsam42-vertigo-manifold-traits.patch
@@ -0,0 +1,30 @@
+diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+index e95e0b5..5131d04 100644
+--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
++++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+@@ -110,6 +110,10 @@ namespace gtsam {
+ // Define Key to be Testable by specializing gtsam::traits
+ template<typename T> struct traits;
+ template<> struct traits<vertigo::SwitchVariableLinear> {
++  typedef gtsam::manifold_tag structure_category;
++  enum { dimension = 1 };
++  typedef vertigo::SwitchVariableLinear ManifoldType;
++
+   static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") {
+     key.print(str);
+   }
+diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
+index 79e1fca..059a372 100644
+--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
++++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
+@@ -111,6 +111,10 @@ namespace gtsam {
+ // Define Key to be Testable by specializing gtsam::traits
+ template<typename T> struct traits;
+ template<> struct traits<vertigo::SwitchVariableSigmoid> {
++  typedef gtsam::manifold_tag structure_category;
++  enum { dimension = 1 };
++  typedef vertigo::SwitchVariableSigmoid ManifoldType;
++
+   static void Print(const vertigo::SwitchVariableSigmoid& key, const std::string& str = "") {
+     key.print(str);
+   }