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replace structured binding with exclusive access

release/4.3a0
Varun Agrawal 2023-12-29 14:43:39 -05:00
parent 9d70605d48
commit b15bcb166e
1 changed files with 2 additions and 1 deletions
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gtsam/navigation/NavState.cpp
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@ -106,7 +106,8 @@ bool NavState::equals(const NavState& other, double tol) const {
//------------------------------------------------------------------------------
NavState NavState::retract(const Vector9& xi, //
OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const {
auto [nRb, n_t, n_v] = (*this);
Rot3 nRb = R_;
Point3 n_t = t_, n_v = v_;
Matrix3 D_bRc_xi, D_R_nRb, D_t_nRb, D_v_nRb;
const Rot3 bRc = Rot3::Expmap(dR(xi), H2 ? &D_bRc_xi : 0);
const Rot3 nRc = nRb.compose(bRc, H1 ? &D_R_nRb : 0);