From 526759584ff985af28eb7b865381b6af1e5bc32f Mon Sep 17 00:00:00 2001 From: CoprDistGit Date: Mon, 6 Apr 2026 11:00:24 +0000 Subject: automatic import of rtabmap --- fix-gtsam42-vertigo-manifold-traits.patch | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 fix-gtsam42-vertigo-manifold-traits.patch (limited to 'fix-gtsam42-vertigo-manifold-traits.patch') 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 struct traits; + template<> struct traits { ++ 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 struct traits; + template<> struct traits { ++ 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); + } -- cgit v1.2.3