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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,41 @@ | ||
commit 65261a83e7269906f726f14d7e8cc30e5f9901f0 | ||
Author: Dmitry Rozhkov <[email protected]> | ||
Date: Fri Jun 16 14:50:52 2017 +0300 | ||
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amcl: fix compilation with gcc v7 | ||
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When building amcl with recent enough gcc v7 compilation fails with | ||
the error | ||
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src/amcl/map/map_cspace.cpp: In function 'void enqueue(map_t*, unsigned int, unsigned int, unsigned int, unsigned int, std::priority_queue<CellData>&, CachedDistanceMap*, unsigned char*)': | ||
src/amcl/map/map_cspace.cpp:98:34: error: call of overloaded 'abs(unsigned int)' is ambiguous | ||
unsigned int di = abs(i - src_i); | ||
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Use `int abs(int)` flavour of the abs() function. | ||
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diff --git a/amcl/src/amcl/map/map_cspace.cpp b/amcl/src/amcl/map/map_cspace.cpp | ||
index 421f718..5b4cf9c 100644 | ||
--- a/amcl/src/amcl/map/map_cspace.cpp | ||
+++ b/amcl/src/amcl/map/map_cspace.cpp | ||
@@ -86,8 +86,8 @@ get_distance_map(double scale, double max_dist) | ||
return cdm; | ||
} | ||
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-void enqueue(map_t* map, unsigned int i, unsigned int j, | ||
- unsigned int src_i, unsigned int src_j, | ||
+void enqueue(map_t* map, int i, int j, | ||
+ int src_i, int src_j, | ||
std::priority_queue<CellData>& Q, | ||
CachedDistanceMap* cdm, | ||
unsigned char* marked) | ||
@@ -95,8 +95,8 @@ void enqueue(map_t* map, unsigned int i, unsigned int j, | ||
if(marked[MAP_INDEX(map, i, j)]) | ||
return; | ||
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- unsigned int di = abs(i - src_i); | ||
- unsigned int dj = abs(j - src_j); | ||
+ int di = abs(i - src_i); | ||
+ int dj = abs(j - src_j); | ||
double distance = cdm->distances_[di][dj]; | ||
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if(distance > cdm->cell_radius_) |