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Cast Eigen::Matrix dimension type to int #2284

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Merged
varunagrawal merged 2 commits into from
Oct 15, 2025
Merged

Cast Eigen::Matrix dimension type to int #2284

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e6e1136
Cast Eigen::Matrix dimension type to int
varunagrawal Oct 14, 2025
16353dc
increase swap space in linux for vcpkg CI
varunagrawal Oct 15, 2025
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12 changes: 6 additions & 6 deletions gtsam/base/ProductLieGroup.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,12 +67,12 @@ class ProductLieGroup: public std::pair<G, H> {

/// @name Manifold
/// @{
inline constexpr static auto dimension = dimension1 + dimension2;
inline constexpr static size_t dimension = dimension1 + dimension2;
inline static size_t Dim() { return dimension; }
inline size_t dim() const { return dimension; }

typedef Eigen::Matrix<double, dimension, 1> TangentVector;
typedef OptionalJacobian<dimension, dimension> ChartJacobian;
using TangentVector = Eigen::Matrix<double, static_cast<int>(dimension), 1>;
using ChartJacobian = OptionalJacobian<dimension, dimension>;

ProductLieGroup retract(const TangentVector& v, //
ChartJacobian H1 = {}, ChartJacobian H2 = {}) const {
Expand All @@ -95,9 +95,9 @@ class ProductLieGroup: public std::pair<G, H> {
/// @name Lie Group
/// @{
protected:
typedef Eigen::Matrix<double, dimension, dimension> Jacobian;
typedef Eigen::Matrix<double, dimension1, dimension1> Jacobian1;
typedef Eigen::Matrix<double, dimension2, dimension2> Jacobian2;
using Jacobian = Eigen::Matrix<double, static_cast<int>(dimension), static_cast<int>(dimension)>;
using Jacobian1 = Eigen::Matrix<double, static_cast<int>(dimension1), static_cast<int>(dimension1)>;
using Jacobian2 = Eigen::Matrix<double, static_cast<int>(dimension2), static_cast<int>(dimension2)>;

public:
ProductLieGroup compose(const ProductLieGroup& other, ChartJacobian H1,
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