base lib optimization

giafranchini · Jan 31, 2024 · ade7e24 · ade7e24
1 parent 4236aa8
commit ade7e24
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,6 +20,7 @@ externalproject_add(
   covariance_geometry_cpp
   PREFIX ${CMAKE_CURRENT_BINARY_DIR}/covariance_geometry_cpp
   GIT_REPOSITORY https://github.com/andreaostuni/covariance_geometry.git
+  GIT_TAG master
   TIMEOUT 10
   UPDATE_COMMAND ${GIT_EXECUTABLE} pull
   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/covariance_geometry_cpp/src

diff --git a/src/covariance_geometry_ros.cpp b/src/covariance_geometry_ros.cpp
@@ -84,7 +84,7 @@ void inverseCompose(
   fromROS(a, pose_a);
   fromROS(b, pose_b);
   ComposePoseQuaternionCovarianceRPY(
-    pose_a, inversePose3DQuaternionCovarianceRPY(pose_b), pose_out);
+    pose_a, InversePose3DQuaternionCovarianceRPY(pose_b), pose_out);
   toROS(pose_out, out);
 }
 
@@ -108,7 +108,7 @@ void inverseCompose(
   PoseQuaternionCovarianceRPY pose_b, pose_out;
   fromROS(a, pose_a);
   fromROS(b, pose_b);
-  pose_b = inversePose3DQuaternionCovarianceRPY(pose_b);
+  pose_b = InversePose3DQuaternionCovarianceRPY(pose_b);
   ComposePose3DQuaternion(
     pose_a, pose_b.first,
     pose_out.first);