[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  gentoo  org>
AuthorDate: Fri Jan 27 12:37:46 2017 +
Commit: Alexis Ballier  gentoo  org>
CommitDate: Fri Jan 27 12:41:21 2017 +
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 ..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" )

[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  gentoo  org>
AuthorDate: Wed Nov  2 10:19:06 2016 +
Commit: Alexis Ballier  gentoo  org>
CommitDate: Wed Nov  2 10:19:14 2016 +
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 ..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 () { if (!variance_) variance_.reset(new 
Variance); return *variance_; }
+   virtual Variance const () 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 , State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void GyroModel::getPrior(State )
+@@ -113,7 +113,7 @@ AccelerometerModel::~AccelerometerModel(
+ bool AccelerometerModel::init(PoseEstimation& estimator, System , 
State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void AccelerometerModel::getPrior(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" )