Merge pull request #93 from themightyoarfish/macos

apple clang compat

Author: koide3

include/gtsam_points/factors/impl/integrated_ct_gicp_factor_impl.hpp

@@ -195,7 +195,7 @@ void IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>::update_correspondences(
       const Eigen::Matrix4d RCR = (cov_B + pose * cov_A * pose.transpose());
 
       mahalanobis[i].setZero();
-      mahalanobis[i].block<3, 3>(0, 0) = RCR.block<3, 3>(0, 0).inverse();
+      mahalanobis[i].template block<3, 3>(0, 0) = RCR.block<3, 3>(0, 0).inverse();
     }
   };
 
@@ -217,4 +217,4 @@ void IntegratedCT_GICPFactor_<TargetFrame, SourceFrame>::update_correspondences(
 #endif
   }
 }
-}  // namespace gtsam_points
+}  // namespace gtsam_points

include/gtsam_points/factors/impl/integrated_gicp_factor_impl.hpp

@@ -177,7 +177,7 @@ void IntegratedGICPFactor_<TargetFrame, SourceFrame>::update_correspondences(con
           const auto& target_cov = frame::cov(*target, correspondences[i]);
           const Eigen::Matrix4d RCR = (target_cov + delta.matrix() * frame::cov(*source, i) * delta.matrix().transpose());
           mahalanobis_full[i].setZero();
-          mahalanobis_full[i].topLeftCorner<3, 3>() = RCR.topLeftCorner<3, 3>().inverse();
+          mahalanobis_full[i].template topLeftCorner<3, 3>() = RCR.topLeftCorner<3, 3>().inverse();
         }
         break;
       case FusedCovCacheMode::COMPACT:

include/gtsam_points/factors/impl/integrated_vgicp_factor_impl.hpp

@@ -137,7 +137,7 @@ void IntegratedVGICPFactor_<SourceFrame>::update_correspondences(const Eigen::Is
         case FusedCovCacheMode::FULL: {
           const Eigen::Matrix4d RCR = (voxel->cov + delta.matrix() * frame::cov(*source, i) * delta.matrix().transpose());
           mahalanobis_full[i].setZero();
-          mahalanobis_full[i].topLeftCorner<3, 3>() = RCR.topLeftCorner<3, 3>().inverse();
+          mahalanobis_full[i].template topLeftCorner<3, 3>() = RCR.topLeftCorner<3, 3>().inverse();
           break;
         }
         case FusedCovCacheMode::COMPACT: {

src/gtsam_points/optimizers/incremental_fixed_lag_smoother_ext_with_fallback.cpp

@@ -177,8 +177,8 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
     if (minmax_id == minmax_ids.end()) {
       minmax_ids.emplace_hint(minmax_id, symbol.chr(), std::make_pair(symbol.index(), symbol.index()));
     } else {
-      minmax_id->second.first = std::min(minmax_id->second.first, symbol.index());
-      minmax_id->second.second = std::max(minmax_id->second.second, symbol.index());
+      minmax_id->second.first = std::min<std::uint64_t>(minmax_id->second.first, symbol.index());
+      minmax_id->second.second = std::max<std::uint64_t>(minmax_id->second.second, symbol.index());
     }
   }
 
@@ -332,4 +332,4 @@ void IncrementalFixedLagSmootherExtWithFallback::fallback_smoother() const {
   smoother->update(new_factors, values, new_stamps);
 }
 
-}  // namespace gtsam_points
+}  // namespace gtsam_points