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Some tiny improvements

release/4.3a0
dellaert 2015-11-12 13:03:03 -08:00
parent 776b15a5a9
commit 8563fc30b4
3 changed files with 5 additions and 3 deletions
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3
gtsam/base/Manifold.h
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@ -169,7 +169,8 @@ struct FixedDimension {
};
/// Helper class to construct the product manifold of two other manifolds, M1 and M2
/// Assumes nothing except manifold structure from M1 and M2
/// Assumes nothing except manifold structure for M1 and M2, and the existence
/// of default constructor for those types
template<typename M1, typename M2>
class ProductManifold: public std::pair<M1, M2> {
BOOST_CONCEPT_ASSERT((IsManifold<M1>));

1
gtsam/nonlinear/Values.h
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@ -32,6 +32,7 @@
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
#pragma GCC diagnostic ignored "-Wunused-local-typedef"
#endif
#include <boost/bind.hpp>
#ifdef __GNUC__

4
gtsam/slam/expressions.h
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@ -47,12 +47,12 @@ typedef Expression<Cal3Bundler> Cal3Bundler_;
/// Expression version of PinholeBase::Project
inline Point2_ project(const Point3_& p_cam) {
Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project;
Point2_::UnaryFunction<Point3>::type f = &PinholeBase::Project;
return Point2_(f, p_cam);
}
inline Point2_ project(const Unit3_& p_cam) {
Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project;
Point2_::UnaryFunction<Unit3>::type f = &PinholeBase::Project;
return Point2_(f, p_cam);
}