From 35155bbeeca441100586d720881b5e92a15b50a0 Mon Sep 17 00:00:00 2001
From: "k.koide" <k.koide@aist.go.jp>
Date: Tue, 16 Jun 2026 13:46:00 +0900
Subject: [PATCH] fix ImuFactor-related build errors

---
 include/glim/mapping/sub_mapping.hpp              | 1 -
 include/glim/odometry/odometry_estimation_imu.hpp | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/include/glim/mapping/sub_mapping.hpp b/include/glim/mapping/sub_mapping.hpp
index 2ac38b24..70275548 100644
--- a/include/glim/mapping/sub_mapping.hpp
+++ b/include/glim/mapping/sub_mapping.hpp
@@ -9,7 +9,6 @@
 namespace gtsam {
 class Values;
 class NonlinearFactorGraph;
-class PreintegratedImuMeasurements;
 }  // namespace gtsam
 
 namespace glim {
diff --git a/include/glim/odometry/odometry_estimation_imu.hpp b/include/glim/odometry/odometry_estimation_imu.hpp
index da5544c6..340a74a5 100644
--- a/include/glim/odometry/odometry_estimation_imu.hpp
+++ b/include/glim/odometry/odometry_estimation_imu.hpp
@@ -5,13 +5,13 @@
 #include <random>
 
 #include <glim/odometry/odometry_estimation_base.hpp>
+#include <gtsam/navigation/ImuFactor.h>
 #include <gtsam_points/util/gtsam_migration.hpp>
 #include <gtsam_points/util/indexed_sliding_window.hpp>
 
 namespace gtsam {
 class Pose3;
 class Values;
-class ImuFactor;
 class NonlinearFactorGraph;
 }  // namespace gtsam