From 92b817eb17afefd2a2bd3d857cfd42dd747dbe71 Mon Sep 17 00:00:00 2001 From: Jeremie Deray Date: Thu, 22 Jun 2017 21:22:24 +0200 Subject: [PATCH] macro to find apropriate sign func depending on mrpt version --- src/CLaserOdometry2D.cpp | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp index d3dc87d..014f0a2 100644 --- a/src/CLaserOdometry2D.cpp +++ b/src/CLaserOdometry2D.cpp @@ -834,8 +834,14 @@ void CLaserOdometry2D::filterLevelSolution() kai_loc_sub(1) = -fps*acu_trans(1,2); if (acu_trans(0,0) > 1.f) kai_loc_sub(2) = 0.f; - else - kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0)); + else + { +#if MRPT_VERSION>=0x130 + kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0)); +#else + kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0)); +#endif + } kai_loc_sub += kai_loc_old; Eigen::Matrix kai_b_old; @@ -884,8 +890,13 @@ void CLaserOdometry2D::PoseUpdate() if (acu_trans(0,0) > 1.f) kai_loc(2) = 0.f; else + { +#if MRPT_VERSION>=0x130 + kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0)); +#else kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0)); - +#endif + } //cout << endl << "Arc cos (incr tita): " << kai_loc(2); float phi = laser_pose.yaw();