UB fix attempt #2

farm-ng · Dec 18, 2024 · 7a86e76 · 7a86e76
1 parent 2b76bc8
commit 7a86e76
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/cpp/sophus/lie/pose3.h b/cpp/sophus/lie/pose3.h
@@ -105,7 +105,7 @@ class Pose3 {
   static Expected<Tangent> error(
       Pose3 const& lhs_a_from_b, Pose3 const& rhs_a_from_b) {
     FARM_TRY(Pose3, product, lhs_a_from_b.inverse() * rhs_a_from_b);
-    return product->log();
+    return product.log();
   }
 
   friend Expected<Pose3> operator*(Pose3 const& lhs, Pose3 const& rhs) {

diff --git a/py/tests/test_lie.py b/py/tests/test_lie.py
@@ -122,8 +122,14 @@ def test_pose():
     print("woot", ng.Rotation3F64.from_proto(a_from_c.rotation.to_proto()).to_proto())
     ng.Pose3F64.from_proto(a_from_c.to_proto())
     print("Here!", a_from_c.log())
-    assert a_from_c.frame_a == "a"
-    assert a_from_c.frame_b == "c"
+
+    try:
+        assert a_from_c.frame_a == "a"
+    except ValueError:
+        print("something went wrong")
+        assert False
+
+
 
     assert np.allclose(a_from_c.log(), ng.Isometry3F64().log())