Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix warnings and docs #1181

Merged
merged 3 commits into from
May 1, 2022
Merged

Fix warnings and docs #1181

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
84dc91f
fix type warnings
varunagrawal Apr 29, 2022
a0799f7
update IMU factor docs to clarify that the measurements are in sensor…
varunagrawal Apr 29, 2022
287279f
use Jose's suggestion
varunagrawal Apr 30, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion gtsam/geometry/Pose2.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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++) {
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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...

Copy link
Collaborator Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Great suggestion. I'll try them out and update!

Copy link
Collaborator Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Eigen::Index works great!

ab_pairs.emplace_back(a.col(j), b.col(j));
}
return Pose2::Align(ab_pairs);
Expand Down
2 changes: 1 addition & 1 deletion gtsam/geometry/Pose3.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -473,7 +473,7 @@ boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
"Pose3:Align expects 3*N matrices of equal shape.");
}
Point3Pairs abPointPairs;
for (size_t j=0; j < a.cols(); j++) {
for (size_t j=0; j < size_t(a.cols()); j++) {
abPointPairs.emplace_back(a.col(j), b.col(j));
}
return Pose3::Align(abPointPairs);
Expand Down
6 changes: 5 additions & 1 deletion gtsam/navigation/AHRSFactor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,11 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation

/**
* Add a single Gyroscope measurement to the preintegration.
* @param measureOmedga Measured angular velocity (in body frame)
* Measurements are taken to be in the sensor
* frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegratedRotationParams` (if provided).
*
* @param measuredOmega Measured angular velocity (as given by the sensor)
* @param deltaT Time step
*/
void integrateMeasurement(const Vector3& measuredOmega, double deltaT);
Expand Down
7 changes: 5 additions & 2 deletions gtsam/navigation/CombinedImuFactor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -208,8 +208,11 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType

/**
* Add a single IMU measurement to the preintegration.
* @param measuredAcc Measured acceleration (in body frame, as given by the
* sensor)
* Both accelerometer and gyroscope measurements are taken to be in the sensor
* frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegrationParams`.
*
* @param measuredAcc Measured acceleration (as given by the sensor)
* @param measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between two consecutive IMU measurements
*/
Expand Down
6 changes: 5 additions & 1 deletion gtsam/navigation/ImuFactor.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,11 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {

/**
* Add a single IMU measurement to the preintegration.
* @param measuredAcc Measured acceleration (in body frame, as given by the sensor)
* Both accelerometer and gyroscope measurements are taken to be in the sensor
* frame and conversion to the body frame is handled by `body_P_sensor` in
* `PreintegrationParams`.
*
* @param measuredAcc Measured acceleration (as given by the sensor)
* @param measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between this and the last IMU measurement
*/
Expand Down