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Fix compiler error with latest compilers. (#1) #2

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merged 1 commit into from
Jun 5, 2024
Merged

Fix compiler error with latest compilers. (#1) #2

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8 changes: 4 additions & 4 deletions sophus/common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,22 +210,22 @@ class optional {
explicit operator bool() const { return is_valid_; }

T const* operator->() const {
SOPHUS_ENSURE(is_valid_, "must be valid");
SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
return &type_;
}

T* operator->() {
SOPHUS_ENSURE(is_valid_, "must be valid");
SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
return &type_;
}

T const& operator*() const {
SOPHUS_ENSURE(is_valid_, "must be valid");
SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
return type_;
}

T& operator*() {
SOPHUS_ENSURE(is_valid_, "must be valid");
SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
return type_;
}

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2 changes: 1 addition & 1 deletion sophus/se2.hpp
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Expand Up @@ -660,7 +660,7 @@ class SE2 : public SE2Base<SE2<Scalar_, Options>> {
/// Precondition: ``i`` must be in 0, 1 or 2.
///
SOPHUS_FUNC static Transformation generator(int i) {
SOPHUS_ENSURE(i >= 0 || i <= 2, "i should be in range [0,2].");
SOPHUS_ENSURE(i >= 0 || i <= 2, "%s", "i should be in range [0,2].");
Tangent e;
e.setZero();
e[i] = Scalar(1);
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2 changes: 1 addition & 1 deletion sophus/se3.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -908,7 +908,7 @@ class SE3 : public SE3Base<SE3<Scalar_, Options>> {
/// Precondition: ``i`` must be in [0, 5].
///
SOPHUS_FUNC static Transformation generator(int i) {
SOPHUS_ENSURE(i >= 0 && i <= 5, "i should be in range [0,5].");
SOPHUS_ENSURE(i >= 0 && i <= 5, "%s", "i should be in range [0,5].");
Tangent e;
e.setZero();
e[i] = Scalar(1);
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2 changes: 1 addition & 1 deletion sophus/so2.hpp
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Expand Up @@ -174,7 +174,7 @@ class SO2Base {
using std::hypot;
// Avoid under/overflows for higher precision
Scalar length = hypot(unit_complex().x(), unit_complex().y());
SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(),
SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(), "%s",
"Complex number should not be close to zero!");
unit_complex_nonconst() /= length;
}
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4 changes: 2 additions & 2 deletions sophus/so3.hpp
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Expand Up @@ -693,7 +693,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
///
SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
Scalar* theta) {
SOPHUS_ENSURE(theta != nullptr, "must not be nullptr.");
SOPHUS_ENSURE(theta != nullptr, "%s", "must not be nullptr.");
using std::abs;
using std::cos;
using std::sin;
Expand Down Expand Up @@ -759,7 +759,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
/// Precondition: ``i`` must be 0, 1 or 2.
///
SOPHUS_FUNC static Transformation generator(int i) {
SOPHUS_ENSURE(i >= 0 && i <= 2, "i should be in range [0,2].");
SOPHUS_ENSURE(i >= 0 && i <= 2, "%s", "i should be in range [0,2].");
Tangent e;
e.setZero();
e[i] = Scalar(1);
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