diff options
Diffstat (limited to 'fix-gtsam42-vertigo-manifold-traits.patch')
| -rw-r--r-- | fix-gtsam42-vertigo-manifold-traits.patch | 26 |
1 files changed, 24 insertions, 2 deletions
diff --git a/fix-gtsam42-vertigo-manifold-traits.patch b/fix-gtsam42-vertigo-manifold-traits.patch index 8d7f830..12af8dc 100644 --- a/fix-gtsam42-vertigo-manifold-traits.patch +++ b/fix-gtsam42-vertigo-manifold-traits.patch @@ -1,5 +1,5 @@ diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h -index e95e0b5..5131d04 100644 +index e95e0b5..f40d4b2 100644 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h @@ -110,6 +110,10 @@ namespace gtsam { @@ -13,8 +13,19 @@ index e95e0b5..5131d04 100644 static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") { key.print(str); } +@@ -118,8 +122,8 @@ template<> struct traits<vertigo::SwitchVariableLinear> { + } + static int GetDimension(const vertigo::SwitchVariableLinear & key) {return key.Dim();} + +- typedef OptionalJacobian<3, 3> ChartJacobian; +- typedef gtsam::Vector TangentVector; ++ typedef OptionalJacobian<1, 1> ChartJacobian; ++ typedef Eigen::Matrix<double, 1, 1> TangentVector; + static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other, + #if GTSAM_VERSION_NUMERIC >= 40300 + ChartJacobian Horigin = {}, ChartJacobian Hother = {}) { diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h -index 79e1fca..059a372 100644 +index 79e1fca..237c7cd 100644 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h @@ -111,6 +111,10 @@ namespace gtsam { @@ -28,3 +39,14 @@ index 79e1fca..059a372 100644 static void Print(const vertigo::SwitchVariableSigmoid& key, const std::string& str = "") { key.print(str); } +@@ -119,8 +123,8 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> { + } + static int GetDimension(const vertigo::SwitchVariableSigmoid & key) {return key.Dim();} + +- typedef OptionalJacobian<3, 3> ChartJacobian; +- typedef gtsam::Vector TangentVector; ++ typedef OptionalJacobian<1, 1> ChartJacobian; ++ typedef Eigen::Matrix<double, 1, 1> TangentVector; + static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other, + #if GTSAM_VERSION_NUMERIC >= 40300 + ChartJacobian Horigin = {}, ChartJacobian Hother = {}) { |