From be18e64f767b35d6c006a6ad4ad4d57466f7cd0b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 31 Jan 2026 21:36:31 -0500 Subject: [PATCH 1/2] Add comment --- cmake/HandleGlobalBuildFlags.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/HandleGlobalBuildFlags.cmake b/cmake/HandleGlobalBuildFlags.cmake index af59b83177..e554199056 100644 --- a/cmake/HandleGlobalBuildFlags.cmake +++ b/cmake/HandleGlobalBuildFlags.cmake @@ -19,7 +19,7 @@ if(MSVC AND GTSAM_SHARED_LIB) endif() if (APPLE AND GTSAM_SHARED_LIB) - # Set the default install directory on macOS + # Setting to @rpath so that dependent executables can find the GTSAM dylib in a portable manner set(CMAKE_INSTALL_NAME_DIR "@rpath") endif() From 9fec242811e386e1a31339a44b70b800db447d6a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 31 Jan 2026 21:36:47 -0500 Subject: [PATCH 2/2] Fix seg-faulting bug --- gtsam/constrained/NonlinearEqualityConstraint.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/constrained/NonlinearEqualityConstraint.cpp b/gtsam/constrained/NonlinearEqualityConstraint.cpp index effc8774c1..a29f06777c 100644 --- a/gtsam/constrained/NonlinearEqualityConstraint.cpp +++ b/gtsam/constrained/NonlinearEqualityConstraint.cpp @@ -60,7 +60,7 @@ Vector NonlinearEqualityConstraints::violationVector(const Values& values, bool size_t start_idx = 0; for (const auto& constraint : *this) { size_t dim = constraint->dim(); - violation.middleCols(start_idx, dim) = + violation.segment(start_idx, dim) = whiten ? constraint->whitenedError(values) : constraint->unwhitenedError(values); start_idx += dim; }