[gentoo-commits] repo/gentoo:master commit in: dev-ros/hector_pose_estimation_core/files/, dev-ros/hector_pose_estimation_core/

[gentoo-commits] repo/gentoo:master commit in: dev-ros/hector_pose_estimation_core/files/, dev-ros/hector_pose_estimation_core/

[Alexis Ballier]

commit:     6b50ed651a950ced26bd0efa7559555ea6e33416
Author:     Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Wed Nov  2 10:19:06 2016 +0000
Commit:     Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Wed Nov  2 10:19:14 2016 +0000
URL:        https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=6b50ed65

dev-ros/hector_pose_estimation_core: fix build with gcc6, bug #598114

Package-Manager: portage-2.3.2

 .../hector_pose_estimation_core/files/gcc6.patch   | 35 ++++++++++++++++++++++
 .../hector_pose_estimation_core-0.3.0-r1.ebuild    |  2 +-
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/dev-ros/hector_pose_estimation_core/files/gcc6.patch b/dev-ros/hector_pose_estimation_core/files/gcc6.patch
new file mode 100644
index 00000000..4286291
--- /dev/null
+++ b/dev-ros/hector_pose_estimation_core/files/gcc6.patch
@@ -0,0 +1,35 @@
+Index: hector_pose_estimation_core/include/hector_pose_estimation/input.h
+===================================================================
+--- hector_pose_estimation_core.orig/include/hector_pose_estimation/input.h
++++ hector_pose_estimation_core/include/hector_pose_estimation/input.h
+@@ -79,7 +79,7 @@ public:
+     return *variance_;
+   }
+ 
+-  virtual bool hasVariance() const { return variance_; }
++  virtual bool hasVariance() const { return variance_ != NULL; }
+   virtual Variance const &getVariance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+   virtual Variance const &getVariance() const { return *variance_; }
+   virtual Variance& variance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+Index: hector_pose_estimation_core/src/system/imu_model.cpp
+===================================================================
+--- hector_pose_estimation_core.orig/src/system/imu_model.cpp
++++ hector_pose_estimation_core/src/system/imu_model.cpp
+@@ -51,7 +51,7 @@ GyroModel::~GyroModel()
+ bool GyroModel::init(PoseEstimation& estimator, System &system, State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void GyroModel::getPrior(State &state)
+@@ -113,7 +113,7 @@ AccelerometerModel::~AccelerometerModel(
+ bool AccelerometerModel::init(PoseEstimation& estimator, System &system, State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void AccelerometerModel::getPrior(State &state)

diff --git a/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild b/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
index 3fce19f..63064ba 100644
--- a/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
+++ b/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
@@ -27,4 +27,4 @@ RDEPEND="
 "
 DEPEND="${RDEPEND}
 	dev-cpp/eigen:3"
-PATCHES=( "${FILESDIR}/includes.patch" )
+PATCHES=( "${FILESDIR}/includes.patch" "${FILESDIR}/gcc6.patch" )

[gentoo-commits] repo/gentoo:master commit in: dev-ros/hector_pose_estimation_core/files/, dev-ros/hector_pose_estimation_core/

[Alexis Ballier]

commit:     eae3a6da0446dcdc271e3c9db48902af48e101b4
Author:     Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Fri Jan 27 12:37:46 2017 +0000
Commit:     Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Fri Jan 27 12:41:21 2017 +0000
URL:        https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=eae3a6da

dev-ros/hector_pose_estimation_core: Fix build with latest eigen

Package-Manager: Portage-2.3.3, Repoman-2.3.1

 dev-ros/hector_pose_estimation_core/files/eigen.patch       | 13 +++++++++++++
 .../hector_pose_estimation_core-0.3.0-r1.ebuild             |  4 ++--
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/dev-ros/hector_pose_estimation_core/files/eigen.patch b/dev-ros/hector_pose_estimation_core/files/eigen.patch
new file mode 100644
index 00000000..b58bb9e
--- /dev/null
+++ b/dev-ros/hector_pose_estimation_core/files/eigen.patch
@@ -0,0 +1,13 @@
+Index: hector_pose_estimation_core/src/measurements/poseupdate.cpp
+===================================================================
+--- hector_pose_estimation_core.orig/src/measurements/poseupdate.cpp
++++ hector_pose_estimation_core/src/measurements/poseupdate.cpp
+@@ -382,7 +382,7 @@ double PoseUpdate::updateInternal(State
+   ROS_DEBUG_STREAM_NAMED("poseupdate", "alpha = " << alpha << ", beta = " << beta);
+ 
+   if (max_error > 0.0) {
+-    double error2 = error.transpose() * Ix * (Ix + Iy).inverse() * Iy * error;
++    double error2 = error.transpose().dot( Ix * (Ix + Iy).inverse() * Iy * error);
+     if (error2 > max_error * max_error) {
+       if (!jump_on_max_error_ || !jump_function) {
+         ROS_WARN_STREAM_NAMED("poseupdate", "Ignoring poseupdate for " << text << " as the error [ " << error.transpose() << " ], |error| = " << sqrt(error2) << " sigma exceeds max_error!");

diff --git a/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild b/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
index 63064ba..99bccdf 100644
--- a/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
+++ b/dev-ros/hector_pose_estimation_core/hector_pose_estimation_core-0.3.0-r1.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2016 Gentoo Foundation
+# Copyright 1999-2017 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -27,4 +27,4 @@ RDEPEND="
 "
 DEPEND="${RDEPEND}
 	dev-cpp/eigen:3"
-PATCHES=( "${FILESDIR}/includes.patch" "${FILESDIR}/gcc6.patch" )
+PATCHES=( "${FILESDIR}/includes.patch" "${FILESDIR}/gcc6.patch" "${FILESDIR}/eigen.patch" )