fix compilation in release

closes #181
artivis · Dec 24, 2020 · 3893263 · 3893263
1 parent 3453cf8
commit 3893263
Show file tree

Hide file tree

Showing 5 changed files with 30 additions and 23 deletions.
diff --git a/include/manif/impl/se2/SE2_base.h b/include/manif/impl/se2/SE2_base.h
@@ -414,11 +414,12 @@ struct AssignmentEvaluatorImpl<SE2Base<Derived>>
   static void run_impl(const T& data)
   {
     using std::abs;
-    using Scalar = typename SE2Base<Derived>::Scalar;
-    MANIF_ASSERT(abs(data.template tail<2>().norm()-Scalar(1)) <
-                 Constants<Scalar>::eps_s,
-                 "SE2 assigned data not normalized !",
-                 invalid_argument);
+    MANIF_ASSERT(
+      abs(data.template tail<2>().norm()-typename SE2Base<Derived>::Scalar(1)) <
+      Constants<typename SE2Base<Derived>::Scalar>::eps_s,
+      "SE2 assigned data not normalized !",
+      invalid_argument
+    );
   }
 };
 

diff --git a/include/manif/impl/se3/SE3_base.h b/include/manif/impl/se3/SE3_base.h
@@ -469,11 +469,12 @@ struct AssignmentEvaluatorImpl<SE3Base<Derived>>
   static void run_impl(const T& data)
   {
     using std::abs;
-    using Scalar = typename SE3Base<Derived>::Scalar;
-    MANIF_ASSERT(abs(data.template tail<4>().norm()-Scalar(1)) <
-                 Constants<Scalar>::eps_s,
-                 "SE3 assigned data not normalized !",
-                 manif::invalid_argument);
+    MANIF_ASSERT(
+      abs(data.template tail<4>().norm()-typename SE3Base<Derived>::Scalar(1)) <
+      Constants<typename SE3Base<Derived>::Scalar>::eps_s,
+      "SE3 assigned data not normalized !",
+      manif::invalid_argument
+    );
   }
 };
 

diff --git a/include/manif/impl/se_2_3/SE_2_3_base.h b/include/manif/impl/se_2_3/SE_2_3_base.h
@@ -455,11 +455,12 @@ struct AssignmentEvaluatorImpl<SE_2_3Base<Derived>>
   static void run_impl(const T& data)
   {
     using std::abs;
-    using Scalar = typename SE_2_3Base<Derived>::Scalar;
-    MANIF_ASSERT(abs(data.template segment<4>(3).norm()-Scalar(1)) <
-                 Constants<Scalar>::eps_s,
-                 "SE_2_3 assigned data not normalized !",
-                 manif::invalid_argument);
+    MANIF_ASSERT(
+      abs(data.template segment<4>(3).norm()-typename SE_2_3Base<Derived>::Scalar(1)) <
+      Constants<typename SE_2_3Base<Derived>::Scalar>::eps_s,
+      "SE_2_3 assigned data not normalized !",
+      manif::invalid_argument
+    );
   }
 };
 

diff --git a/include/manif/impl/so2/SO2_base.h b/include/manif/impl/so2/SO2_base.h
@@ -330,10 +330,12 @@ struct AssignmentEvaluatorImpl<SO2Base<Derived>>
   static void run_impl(const T& data)
   {
     using std::abs;
-    using Scalar = typename SO2Base<Derived>::Scalar;
-    MANIF_ASSERT(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
-                 "SO2 assigned data not normalized !",
-                 invalid_argument);
+    MANIF_ASSERT(
+      abs(data.norm()-typename SO2Base<Derived>::Scalar(1)) <
+      Constants<typename SO2Base<Derived>::Scalar>::eps_s,
+      "SO2 assigned data not normalized !",
+      invalid_argument
+    );
   }
 };
 

diff --git a/include/manif/impl/so3/SO3_base.h b/include/manif/impl/so3/SO3_base.h
@@ -399,10 +399,12 @@ struct AssignmentEvaluatorImpl<SO3Base<Derived>>
   static void run_impl(const T& data)
   {
     using std::abs;
-    using Scalar = typename SO3Base<Derived>::Scalar;
-    MANIF_ASSERT(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
-                 "SO3 assigned data not normalized !",
-                 manif::invalid_argument);
+    MANIF_ASSERT(
+      abs(data.norm()-typename SO3Base<Derived>::Scalar(1)) <
+      Constants<typename SO3Base<Derived>::Scalar>::eps_s,
+      "SO3 assigned data not normalized !",
+      manif::invalid_argument
+    );
   }
 };