Merge branch 'develop' into fix/refactor_cartesian_product

borglab · Jan 24, 2025 · 3111a3b · 3111a3b
2 parents 40f8a12 + cfb9ea7
commit 3111a3b
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Showing 7 changed files with 25 additions and 13 deletions.
diff --git a/examples/TriangulationLOSTExample.cpp b/examples/TriangulationLOSTExample.cpp
@@ -123,9 +123,9 @@ int main(int argc, char* argv[]) {
 
   double rank_tol = 1e-9;
   std::shared_ptr<Cal3_S2> calib = std::make_shared<Cal3_S2>();
-  std::chrono::nanoseconds durationDLT;
-  std::chrono::nanoseconds durationDLTOpt;
-  std::chrono::nanoseconds durationLOST;
+  std::chrono::nanoseconds durationDLT{};
+  std::chrono::nanoseconds durationDLTOpt{};
+  std::chrono::nanoseconds durationLOST{};
 
   for (int i = 0; i < nrTrials; i++) {
     Point2Vector noisyMeasurements =

diff --git a/gtsam/basis/tests/testFourier.cpp b/gtsam/basis/tests/testFourier.cpp
@@ -22,6 +22,10 @@
 #include <gtsam/basis/Fourier.h>
 #include <gtsam/nonlinear/factorTesting.h>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic warning "-Wstringop-overread"
+#pragma GCC diagnostic warning "-Warray-bounds"
+#endif
 using namespace std;
 using namespace gtsam;
 

diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
@@ -138,8 +138,10 @@ struct BearingRange {
   TangentVector localCoordinates(const BearingRange& other) const {
     typename traits<B>::TangentVector v1 = traits<B>::Local(bearing_, other.bearing_);
     typename traits<R>::TangentVector v2 = traits<R>::Local(range_, other.range_);
+    // Set the first dimB elements to v1, and the next dimR elements to v2
     TangentVector v;
-    v << v1, v2;
+    v.template head<dimB>() = v1;
+    v.template tail<dimR>() = v2;
     return v;
   }
 

diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
@@ -9,6 +9,10 @@
 #include <gtsam/geometry/FundamentalMatrix.h>
 #include <gtsam/geometry/Point2.h>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
 namespace gtsam {
 
 //*************************************************************************

diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h
@@ -107,7 +107,7 @@ namespace gtsam {
   // The shortcut density is a conditional P(S|B) of the separator of this
   // clique on the root or common ancestor B. We can compute it recursively from
   // the parent shortcut P(Sp|B) as \int P(Fp|Sp) P(Sp|B), where Fp are the
-  // frontal nodes in pthe parent p, and Sp the separator of the parent.
+  // frontal nodes in the parent p, and Sp the separator of the parent.
   /* *************************************************************************
    */
   template <class DERIVED, class FACTORGRAPH>

diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp
@@ -38,18 +38,17 @@ static const auto& kWGS84 = Geocentric::WGS84();
 // *************************************************************************
 namespace example {
 // ENU Origin is where the plane was in hold next to runway
-const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
+static constexpr double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
 
 // Convert from GPS to ENU
-LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
+static const LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
 
 // Dekalb-Peachtree Airport runway 2L
-const double lat = 33.87071, lon = -84.30482, h = 274;\
+static constexpr double lat = 33.87071, lon = -84.30482, h = 274;
 
 // Random lever arm
-const Point3 leverArm(0.1, 0.2, 0.3);
-
-}
+static const Point3 leverArm(0.1, 0.2, 0.3);
+}  // namespace example
 
 // *************************************************************************
 TEST( GPSFactor, Constructor ) {
@@ -135,7 +134,7 @@ TEST( GPSFactorArmCalib, Constructor ) {
 
   // Calculate numerical derivatives
   Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
-      [&factor, &leverArm](const Pose3& pose_arg) {
+      [&factor](const Pose3& pose_arg) {
         return factor.evaluateError(pose_arg, leverArm);
       },
       T);
@@ -235,7 +234,7 @@ TEST( GPSFactor2ArmCalib, Constructor ) {
 
   // Calculate numerical derivatives
   Matrix expectedH1 = numericalDerivative11<Vector, NavState>(
-      [&factor, &leverArm](const NavState& nav_arg) {
+      [&factor](const NavState& nav_arg) {
         return factor.evaluateError(nav_arg, leverArm);
       },
       T);

diff --git a/gtsam/slam/tests/testRotateFactor.cpp b/gtsam/slam/tests/testRotateFactor.cpp
@@ -14,6 +14,9 @@
 
 #include <vector>
 
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
 using namespace std;
 using namespace std::placeholders;
 using namespace gtsam;