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Changes to make it work with MRPT 1.9

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- Added C++14 flag to CMakeLists.txt
- Fixed conversion of CPoses
This commit is contained in:
Francisco Moreno
2017-08-03 18:38:12 +02:00
parent a076caae6e
commit 7d91aed999
3 changed files with 11 additions and 6 deletions
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6
src/CLaserOdometry2D.cpp
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@@ -144,8 +144,8 @@ void CLaserOdometry2D::Init()
//Set the initial pose
laser_pose = CPose2D(robotInitialPose + LaserPoseOnTheRobot);
laser_oldpose = CPose2D(robotInitialPose + LaserPoseOnTheRobot);
laser_pose = robotInitialPose + LaserPoseOnTheRobot;
laser_oldpose = robotInitialPose + LaserPoseOnTheRobot;
// Init module (internal)
@@ -943,7 +943,7 @@ void CLaserOdometry2D::PoseUpdate()
laser_oldpose = laser_pose;
math::CMatrixDouble33 aux_acu = acu_trans;
poses::CPose2D pose_aux_2D(acu_trans(0,2), acu_trans(1,2), kai_loc(2)/fps);
laser_pose = laser_pose + pose_aux_2D;
laser_pose = laser_pose + CPose3D(pose_aux_2D);