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Fix: updated jacobi as template#560

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Crola1702 merged 4 commits intogazebosim:gz-sensors10from
miguelgonrod:fix/jacobiSVD-warning
Nov 24, 2025
Merged

Fix: updated jacobi as template#560
Crola1702 merged 4 commits intogazebosim:gz-sensors10from
miguelgonrod:fix/jacobiSVD-warning

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@miguelgonrod miguelgonrod commented Nov 21, 2025 •
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🦟 Bug fix

Fixes #559

Summary

Replicate warning:

  1. Go to https://build.osrfoundation.org/job/gz_sensors-ci-gz-sensors10-homebrew-amd64 before the merge
  2. Build the job
  3. See the warning appear

Changes made

-        const auto svdDecomposition =
-            beamBasis.topRows(numBeamsLocked).jacobiSvd(
-                Eigen::ComputeThinU | Eigen::ComputeThinV);

+        const Eigen::MatrixXd svdMat =
+          beamBasis.topRows(numBeamsLocked).eval();
+        using SvdT = Eigen::JacobiSVD<Eigen::MatrixXd>;
+        const SvdT svdDecomposition(svdMat,
+          Eigen::ComputeThinU | Eigen::ComputeThinV);

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers
  • Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

@miguelgonrod
Fix: updated jacobi as template
961e2f6 
Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
@github-actions github-actions bot added the 🪵 jetty Gazebo Jetty label Nov 21, 2025
@miguelgonrod
Fix: forgot to add template keyword
f048f92 
Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
@miguelgonrod
Added a explicit definition of svdecomposition
2cda290 
Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
@miguelgonrod
Added the flag for decomposition
b59d445 
Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
@miguelgonrod miguelgonrod marked this pull request as ready for review November 21, 2025 18:27
@github-project-automation github-project-automation bot moved this from Inbox to In review in Core development Nov 22, 2025
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miguelgonrod commented Nov 24, 2025

Hi @iche033. thanks for approving the changes, could you also merge? I don't have enough permissions

@Crola1702 Crola1702 merged commit b7319ec into gazebosim:gz-sensors10 Nov 24, 2025
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@github-project-automation github-project-automation bot moved this from In review to Done in Core development Nov 24, 2025
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scpeters commented Nov 24, 2025

https://github.com/Mergifyio backport main

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mergify bot commented Nov 24, 2025 •
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backport main

✅ Backports have been created

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@mergify mergify bot mentioned this pull request Nov 24, 2025
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miguelgonrod commented Nov 26, 2025 •
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@scpeters is it possible to backport this to gz-sensors8 and gz-sensors9?
This builds had today the same warning

Builds:

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scpeters commented Nov 26, 2025

https://github.com/Mergifyio backport gz-sensors9

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mergify bot commented Nov 26, 2025 •
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backport gz-sensors9

✅ Backports have been created

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scpeters commented Nov 26, 2025

I'll backport one at a time

@mergify mergify bot mentioned this pull request Nov 26, 2025
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9 tasks
scpeters pushed a commit that referenced this pull request Nov 26, 2025
@mergify @miguelgonrod
Fix: updated jacobi as template (backport #560)
91171df 
Squashed the following cherry-picked commits:

(cherry picked from commit 961e2f6)
(cherry picked from commit f048f92)
(cherry picked from commit 2cda290)
(cherry picked from commit b59d445)

Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
Co-authored-by: miguelgonrod <miguelgonrod2004@gmail.com>
mergify bot added a commit that referenced this pull request Nov 26, 2025
@mergify @miguelgonrod
Fix: updated jacobi as template (backport #560)
3bc97e4 
Squashed the following cherry-picked commits:

(cherry picked from commit 961e2f6)
(cherry picked from commit f048f92)
(cherry picked from commit 2cda290)
(cherry picked from commit b59d445)

Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
Co-authored-by: miguelgonrod <miguelgonrod2004@gmail.com>
(cherry picked from commit 91171df)
@mergify mergify bot mentioned this pull request Nov 26, 2025
Merged
9 tasks
@scpeters
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scpeters commented Nov 26, 2025

final backport to gz-sensors8 is in #564

scpeters pushed a commit that referenced this pull request Nov 26, 2025
@mergify @miguelgonrod @scpeters
Fix: updated jacobi as template (backport #560)
dd826c0 
Squashed the following cherry-picked commits:

(cherry picked from commit 961e2f6)
(cherry picked from commit f048f92)
(cherry picked from commit 2cda290)
(cherry picked from commit b59d445)

Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
Co-authored-by: miguelgonrod <miguelgonrod2004@gmail.com>
(cherry picked from commit 91171df)
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@iche033 iche033 iche033 approved these changes

@Crola1702 Crola1702 Crola1702 approved these changes

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🧑‍🌾 gz_sensors-ci-gz-sensors10-homebrew-amd64 clang warning related to DopplerVelocityLog.cc

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