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Fix c++20 issue in test #1990

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Jan 23, 2025
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Fix c++20 issue in test #1990

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15 changes: 7 additions & 8 deletions gtsam/navigation/tests/testGPSFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 ) {
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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);
Expand Down
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