From d6ccb57241618d425a2a85c8b36c92ce2ed4cb2a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 22 Jan 2025 23:20:41 -0500 Subject: [PATCH] Fix c++20 issue --- gtsam/navigation/tests/testGPSFactor.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp index f240e5dbfe..62456bb0d5 100644 --- 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( - [&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( - [&factor, &leverArm](const NavState& nav_arg) { + [&factor](const NavState& nav_arg) { return factor.evaluateError(nav_arg, leverArm); }, T);