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rm one more using namespace and use typedef to deal with diff mrpt version

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Jeremie Deray
2017-06-22 21:21:32 +02:00
parent 5893d1a3e9
commit 7333f65490
2 changed files with 4 additions and 3 deletions
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5
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -25,10 +25,11 @@
#if MRPT_VERSION>=0x130 #if MRPT_VERSION>=0x130
# include <mrpt/obs/CObservation2DRangeScan.h> # include <mrpt/obs/CObservation2DRangeScan.h>
# include <mrpt/obs/CObservationOdometry.h> # include <mrpt/obs/CObservationOdometry.h>
using namespace mrpt::obs; typedef mrpt::obs::CObservation2DRangeScan CObservation2DRangeScan;
#else #else
# include <mrpt/slam/CObservation2DRangeScan.h> # include <mrpt/slam/CObservation2DRangeScan.h>
# include <mrpt/slam/CObservationOdometry.h> # include <mrpt/slam/CObservationOdometry.h>
typedef mrpt::poses::CObservation2DRangeScan CObservation2DRangeScan;
#endif #endif
@@ -166,7 +167,7 @@ protected:
void solveSystemNonLinear(); void solveSystemNonLinear();
void filterLevelSolution(); void filterLevelSolution();
void PoseUpdate(); void PoseUpdate();
void Reset(mrpt::poses::CPose3D ini_pose, mrpt::poses::CObservation2DRangeScan scan); void Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan);
}; };
#endif #endif

2
src/CLaserOdometry2D.cpp
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@@ -708,7 +708,7 @@ void CLaserOdometry2D::solveSystemNonLinear()
std::cout << endl << "[rf2o] COV_ODO: " << cov_odo << endl; std::cout << endl << "[rf2o] COV_ODO: " << cov_odo << endl;
} }
void CLaserOdometry2D::Reset(mrpt::poses::CPose3D ini_pose, mrpt::poses::CObservation2DRangeScan scan) void CLaserOdometry2D::Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan)
{ {
//Set the initial pose //Set the initial pose
laser_pose = ini_pose; laser_pose = ini_pose;