When i compile cpi_compare,the error is shown:

[lengfei11]

error: ‘class gtsam::PreintegratedCombinedMeasurements’ has no member named ‘delRdelBiasOmega’
Eigen::Matrix<double,3,3> J_q = -preint_gtsam.delRdelBiasOmega();
^
anyone know what is the reason about this problem? thanks very much!

[goldbattle]

Are you building with the manifold version of GTSAM? https://github.com/rpng/cpi#building-gtsam I recommend you checkout GTSAM commit `c21186c6212798e665da6b5015296713ddfe8c1d` since that was the version used with this codebase. Let me know if this solves it.

…

On Tue, May 5, 2020 at 3:22 AM lengfei11 ***@***.***> wrote: error: ‘class gtsam::PreintegratedCombinedMeasurements’ has no member named ‘delRdelBiasOmega’ Eigen::Matrix<double,3,3> J_q = -preint_gtsam.delRdelBiasOmega(); ^ anyone know what is the reason about this problem? thanks very much! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAQ6TYS3AFSL6DTSLJDFM3DRP65EBANCNFSM4MZKX5UQ> .

[lengfei11]

thanks.it's solved.