Fix warnings and docs #1181
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Fix warnings and docs #1181
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varunagrawal
commented
Apr 29, 2022
varunagrawal
commented
- Fix the warnings due to type mismatch in newly introduced methods.
- Update docs for IMU factors clarifying what frame the measurements are in.
jlblancoc
reviewed
Apr 29, 2022
gtsam/geometry/Pose2.cpp
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| @@ -365,7 +365,7 @@ boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) { | |||
| "Pose2:Align expects 2*N matrices of equal shape."); | |||
| } | |||
| Point2Pairs ab_pairs; | |||
| for (size_t j=0; j < a.cols(); j++) { | |||
| for (size_t j=0; j < size_t(a.cols()); j++) { | |||
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Thanks for the pr, I was also thinking of fixing them :-)
IMO, for C++ the C-type cast used here might be replaced by the more explicit static_cast.
That's in general. For these pair of warnings in particular I think it may make more sense to replace the loop counter variable from size_t to Eigen::Index, that should avoid casts at all and fix warnings, but haven't tried it yet...
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Great suggestion. I'll try them out and update!
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Eigen::Index works great!
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