From 4f2d7949f03e1c198bc888f2d05f421d35c57e21 Mon Sep 17 00:00:00 2001
From: V3n3RiX <venerix@redcorelinux.org>
Date: Mon, 9 Oct 2017 18:53:29 +0100
Subject: reinit the tree, so we can have metadata

---
 .../hector_pose_estimation_core/files/eigen.patch  | 13 ++++++++
 .../hector_pose_estimation_core/files/gcc6.patch   | 35 ++++++++++++++++++++++
 .../files/includes.patch                           | 12 ++++++++
 3 files changed, 60 insertions(+)
 create mode 100644 dev-ros/hector_pose_estimation_core/files/eigen.patch
 create mode 100644 dev-ros/hector_pose_estimation_core/files/gcc6.patch
 create mode 100644 dev-ros/hector_pose_estimation_core/files/includes.patch

(limited to 'dev-ros/hector_pose_estimation_core/files')

diff --git a/dev-ros/hector_pose_estimation_core/files/eigen.patch b/dev-ros/hector_pose_estimation_core/files/eigen.patch
new file mode 100644
index 000000000000..b58bb9e8ca3d
--- /dev/null
+++ b/dev-ros/hector_pose_estimation_core/files/eigen.patch
@@ -0,0 +1,13 @@
+Index: hector_pose_estimation_core/src/measurements/poseupdate.cpp
+===================================================================
+--- hector_pose_estimation_core.orig/src/measurements/poseupdate.cpp
++++ hector_pose_estimation_core/src/measurements/poseupdate.cpp
+@@ -382,7 +382,7 @@ double PoseUpdate::updateInternal(State
+   ROS_DEBUG_STREAM_NAMED("poseupdate", "alpha = " << alpha << ", beta = " << beta);
+ 
+   if (max_error > 0.0) {
+-    double error2 = error.transpose() * Ix * (Ix + Iy).inverse() * Iy * error;
++    double error2 = error.transpose().dot( Ix * (Ix + Iy).inverse() * Iy * error);
+     if (error2 > max_error * max_error) {
+       if (!jump_on_max_error_ || !jump_function) {
+         ROS_WARN_STREAM_NAMED("poseupdate", "Ignoring poseupdate for " << text << " as the error [ " << error.transpose() << " ], |error| = " << sqrt(error2) << " sigma exceeds max_error!");
diff --git a/dev-ros/hector_pose_estimation_core/files/gcc6.patch b/dev-ros/hector_pose_estimation_core/files/gcc6.patch
new file mode 100644
index 000000000000..42862915244b
--- /dev/null
+++ b/dev-ros/hector_pose_estimation_core/files/gcc6.patch
@@ -0,0 +1,35 @@
+Index: hector_pose_estimation_core/include/hector_pose_estimation/input.h
+===================================================================
+--- hector_pose_estimation_core.orig/include/hector_pose_estimation/input.h
++++ hector_pose_estimation_core/include/hector_pose_estimation/input.h
+@@ -79,7 +79,7 @@ public:
+     return *variance_;
+   }
+ 
+-  virtual bool hasVariance() const { return variance_; }
++  virtual bool hasVariance() const { return variance_ != NULL; }
+   virtual Variance const &getVariance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+   virtual Variance const &getVariance() const { return *variance_; }
+   virtual Variance& variance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
+Index: hector_pose_estimation_core/src/system/imu_model.cpp
+===================================================================
+--- hector_pose_estimation_core.orig/src/system/imu_model.cpp
++++ hector_pose_estimation_core/src/system/imu_model.cpp
+@@ -51,7 +51,7 @@ GyroModel::~GyroModel()
+ bool GyroModel::init(PoseEstimation& estimator, System &system, State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void GyroModel::getPrior(State &state)
+@@ -113,7 +113,7 @@ AccelerometerModel::~AccelerometerModel(
+ bool AccelerometerModel::init(PoseEstimation& estimator, System &system, State& state)
+ {
+   bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
+-  return bias_;
++  return bias_ != NULL;
+ }
+ 
+ void AccelerometerModel::getPrior(State &state)
diff --git a/dev-ros/hector_pose_estimation_core/files/includes.patch b/dev-ros/hector_pose_estimation_core/files/includes.patch
new file mode 100644
index 000000000000..0188d027ed9d
--- /dev/null
+++ b/dev-ros/hector_pose_estimation_core/files/includes.patch
@@ -0,0 +1,12 @@
+Index: hector_localization-0.3.0/hector_pose_estimation_core/include/hector_pose_estimation/state.h
+===================================================================
+--- hector_localization-0.3.0.orig/hector_pose_estimation_core/include/hector_pose_estimation/state.h
++++ hector_localization-0.3.0/hector_pose_estimation_core/include/hector_pose_estimation/state.h
+@@ -29,6 +29,7 @@
+ #ifndef HECTOR_POSE_ESTIMATION_STATE_H
+ #define HECTOR_POSE_ESTIMATION_STATE_H
+ 
++#include <vector>
+ #include <hector_pose_estimation/types.h>
+ 
+ #include <boost/function.hpp>
-- 
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