variable dimension product groups

cmake/GtsamBuildTypes.cmake

@@ -136,6 +136,7 @@ else()
     -Wall                                          # Enable common warnings
     -Wpedantic                                     # Enable pedantic warnings
     $<$<COMPILE_LANGUAGE:CXX>:-Wextra -Wno-unused-parameter> # Enable extra warnings, but ignore no-unused-parameter (as we ifdef out chunks of code)
+    $<$<CXX_COMPILER_ID:GNU>:-Wno-psabi>                     # GCC 10 emits non-actionable psABI notes for some value-returning wrappers under C++17
     $<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr>            # Error: return local address
     $<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address>       # Error: return local address
     $<$<CXX_COMPILER_ID:Clang>:-Wno-weak-template-vtables>   # TODO(dellaert): don't know how to resolve

gtsam/base/Manifold.h

@@ -74,11 +74,11 @@ template<class Class, int N>
 struct GetDimensionImpl {
   // Get dimension at compile-time for fixed-size manifolds, and at
   // run-time for dynamic-size manifolds.
-  static int GetDimension(const Class& m) {
+  static size_t GetDimension(const Class& m) {
     if constexpr (N == Eigen::Dynamic) {
       return m.dim();
     } else {
-      return N;
+      return static_cast<size_t>(N);
     }
   }
 };