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ekf: fix variable length array error

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Even if the non_zeros() function is static constexpr, gcc (10.2) does not like it.
Using sizeof...(Idxs) fixes the error.
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bresch
2020-09-25 10:49:00 +02:00
committed by Julian Kent
parent 99aafbaa18
commit 5879eaaf78
1 changed files with 2 additions and 1 deletions
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EKF/ekf.h
+2 -1
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@@ -671,7 +671,8 @@ private:
template <size_t ...Idxs> template <size_t ...Idxs>
SquareMatrix24f computeKHP(const Vector24f& K, const SparseVector24f<Idxs...>& H) const { SquareMatrix24f computeKHP(const Vector24f& K, const SparseVector24f<Idxs...>& H) const {
SquareMatrix24f KHP; SquareMatrix24f KHP;
float KH[H.non_zeros()]; constexpr size_t non_zeros = sizeof...(Idxs);
float KH[non_zeros];
for (unsigned row = 0; row < _k_num_states; row++) { for (unsigned row = 0; row < _k_num_states; row++) {
for(unsigned i = 0; i < H.non_zeros(); i++) { for(unsigned i = 0; i < H.non_zeros(); i++) {
KH[i] = K(row) * H.atCompressedIndex(i); KH[i] = K(row) * H.atCompressedIndex(i);