fixes

borglab · Sep 24, 2024 · 83f8ac8 · 83f8ac8
1 parent 191db15
commit 83f8ac8
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Showing 2 changed files with 2 additions and 8 deletions.
diff --git a/gtsam_unstable/dynamics/DynamicsPriors.h b/gtsam_unstable/dynamics/DynamicsPriors.h
@@ -33,7 +33,7 @@ class PartialPoseRTVPriorFactor : public PartialPriorFactor<PoseRTV> {
   using Base::evaluateError;
 
   gtsam::NonlinearFactor::shared_ptr clone() const override {
-    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+    return std::static_pointer_cast<gtsam::NonlinearFactor>(
         gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
 
  private:

diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h
@@ -46,7 +46,7 @@ class PartialPriorFactor : public NoiseModelFactorN<VALUE> {
  public:
   typedef VALUE T;
 
- private:
+ protected:
   typedef NoiseModelFactorN<VALUE> Base;
   typedef PartialPriorFactor<VALUE> This;
 
@@ -88,12 +88,6 @@ class PartialPriorFactor : public NoiseModelFactorN<VALUE> {
 
   ~PartialPriorFactor() override {}
 
-  /// @return a deep copy of this factor
-  gtsam::NonlinearFactor::shared_ptr clone() const override {
-    return std::static_pointer_cast<gtsam::NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
-  }
-
   /** Implement functions needed for Testable */
 
   /** print */