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Fix compatibility for Eigen 5.0.0 #2265

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Merged
dellaert merged 1 commit into from
Oct 14, 2025
Merged

Fix compatibility for Eigen 5.0.0 #2265

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2 changes: 1 addition & 1 deletion gtsam/base/Matrix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
using Matrix8##N = Eigen::Matrix<double, 8, N>; \
using Matrix9##N = Eigen::Matrix<double, 9, N>; \
static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Constant(0.0);

GTSAM_MAKE_MATRIX_DEFS(1)
GTSAM_MAKE_MATRIX_DEFS(2)
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6 changes: 3 additions & 3 deletions gtsam/base/Vector.h
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Expand Up @@ -43,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
typedef Eigen::Vector2d Vector2;
typedef Eigen::Vector3d Vector3;

static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Constant(0.0);
static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Constant(0.0);

// Create handy typedefs and constants for vectors with N>3
// VectorN and Z_Nx1, for N=1..9
#define GTSAM_MAKE_VECTOR_DEFS(N) \
using Vector##N = Eigen::Matrix<double, N, 1>; \
static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Constant(0.0);

GTSAM_MAKE_VECTOR_DEFS(4)
GTSAM_MAKE_VECTOR_DEFS(5)
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