From 24f8d696879c1016bbcd51a087be1175a82eb6dc Mon Sep 17 00:00:00 2001 From: ShuangLiu1992 Date: Sat, 29 Apr 2023 22:24:28 +0100 Subject: [PATCH 3/3] Update HessianFactor.cpp add static_cast to make compiler happy --- gtsam/linear/HessianFactor.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 8980b5030..3c3050f90 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -72,7 +72,7 @@ HessianFactor::HessianFactor() : /* ************************************************************************* */ HessianFactor::HessianFactor(Key j, const Matrix& G, const Vector& g, double f) - : GaussianFactor(KeyVector{j}), info_(Dims{G.cols(), 1}) { + : GaussianFactor(KeyVector{j}), info_(Dims{static_cast(G.cols()), 1}) { if (G.rows() != G.cols() || G.rows() != g.size()) throw invalid_argument( "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); @@ -85,7 +85,7 @@ HessianFactor::HessianFactor(Key j, const Matrix& G, const Vector& g, double f) // error is 0.5*(x-mu)'*inv(Sigma)*(x-mu) = 0.5*(x'*G*x - 2*x'*G*mu + mu'*G*mu) // where G = inv(Sigma), g = G*mu, f = mu'*G*mu = mu'*g HessianFactor::HessianFactor(Key j, const Vector& mu, const Matrix& Sigma) - : GaussianFactor(KeyVector{j}), info_(Dims{Sigma.cols(), 1}) { + : GaussianFactor(KeyVector{j}), info_(Dims{static_cast(Sigma.cols()), 1}) { if (Sigma.rows() != Sigma.cols() || Sigma.rows() != mu.size()) throw invalid_argument( "Attempting to construct HessianFactor with inconsistent matrix and/or vector dimensions"); @@ -99,7 +99,7 @@ HessianFactor::HessianFactor(Key j1, Key j2, const Matrix& G11, const Matrix& G12, const Vector& g1, const Matrix& G22, const Vector& g2, double f) : GaussianFactor(KeyVector{j1,j2}), info_( - Dims{G11.cols(),G22.cols(),1}) { + Dims{static_cast(G11.cols()),static_cast(G22.cols()),1}) { info_.setDiagonalBlock(0, G11); info_.setOffDiagonalBlock(0, 1, G12); info_.setDiagonalBlock(1, G22); @@ -113,7 +113,7 @@ HessianFactor::HessianFactor(Key j1, Key j2, Key j3, const Matrix& G11, const Matrix& G23, const Vector& g2, const Matrix& G33, const Vector& g3, double f) : GaussianFactor(KeyVector{j1,j2,j3}), info_( - Dims{G11.cols(),G22.cols(),G33.cols(),1}) { + Dims{static_cast(G11.cols()),static_cast(G22.cols()),static_cast(G33.cols()),1}) { if (G11.rows() != G11.cols() || G11.rows() != G12.rows() || G11.rows() != G13.rows() || G11.rows() != g1.size() || G22.cols() != G12.cols() || G33.cols() != G13.cols() -- 2.37.2