fixed gtsam 4.3 build error (#1033 (comment))

introlab · Apr 2, 2024 · 063ca9c · 063ca9c
1 parent 11adbdc
commit 063ca9c
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/corelib/src/optimizer/OptimizerGTSAM.cpp b/corelib/src/optimizer/OptimizerGTSAM.cpp
@@ -701,7 +701,11 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
  float x,y,z,roll,pitch,yaw;
  std::map<int, Transform> tmpPoses;
  Values values = isam2_?isam2_->calculateEstimate():optimizer->values();
+#if GTSAM_VERSION_NUMERIC >= 40200
+ for(gtsam::Values::deref_iterator iter=values.begin(); iter!=values.end(); ++iter)
+#else
  for(gtsam::Values::iterator iter=values.begin(); iter!=values.end(); ++iter)
+#endif
  {
  int key = (int)iter->key;
  if(iter->value.dim() > 1 && uContains(newPoses, key))
@@ -869,7 +873,11 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
 
  float x,y,z,roll,pitch,yaw;
  gtsam::Values values = isam2_?isam2_->calculateEstimate():optimizer->values();
+#if GTSAM_VERSION_NUMERIC >= 40200
+ for(gtsam::Values::deref_iterator iter=values.begin(); iter!=values.end(); ++iter)
+#else
  for(gtsam::Values::iterator iter=values.begin(); iter!=values.end(); ++iter)
+#endif
  {
  int key = (int)iter->key;
  if(iter->value.dim() > 1 && uContains(poses, key))