fix-gtsam42-vertigo-manifold-traits.patch


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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);
   }