Fix ODR violations in Navigation expressions

ProfFan · ProfFan · commit 9acc89dbb4cc · 2025-03-09T19:41:58.000-07:00
diff --git a/gtsam/navigation/expressions.h b/gtsam/navigation/expressions.h
@@ -19,13 +19,13 @@ typedef Expression<Velocity3> Velocity3_;
 
 namespace internal {
 // define getters that return a value rather than a reference
-Rot3 attitude(const NavState& X, OptionalJacobian<3, 9> H) {
+inline Rot3 attitude(const NavState& X, OptionalJacobian<3, 9> H) {
   return X.attitude(H);
 }
-Point3 position(const NavState& X, OptionalJacobian<3, 9> H) {
+inline Point3 position(const NavState& X, OptionalJacobian<3, 9> H) {
   return X.position(H);
 }
-Velocity3 velocity(const NavState& X, OptionalJacobian<3, 9> H) {
+inline Velocity3 velocity(const NavState& X, OptionalJacobian<3, 9> H) {
   return X.velocity(H);
 }
 }  // namespace internal

Original file line number	Diff line number	Diff line change
`@@ -19,13 +19,13 @@ typedef Expression<Velocity3> Velocity3_;`
`19`	`19`
`20`	`20`	`namespace internal {`
`21`	`21`	`// define getters that return a value rather than a reference`
`22`		`-Rot3 attitude(const NavState& X, OptionalJacobian<3, 9> H) {`
	`22`	`+inline Rot3 attitude(const NavState& X, OptionalJacobian<3, 9> H) {`
`23`	`23`	`return X.attitude(H);`
`24`	`24`	`}`
`25`		`-Point3 position(const NavState& X, OptionalJacobian<3, 9> H) {`
	`25`	`+inline Point3 position(const NavState& X, OptionalJacobian<3, 9> H) {`
`26`	`26`	`return X.position(H);`
`27`	`27`	`}`
`28`		`-Velocity3 velocity(const NavState& X, OptionalJacobian<3, 9> H) {`
	`28`	`+inline Velocity3 velocity(const NavState& X, OptionalJacobian<3, 9> H) {`
`29`	`29`	`return X.velocity(H);`
`30`	`30`	`}`
`31`	`31`	`} // namespace internal`