Fix compilation with Clang 15

wpilibsuite · Feb 24, 2025 · e44f33e · e44f33e
1 parent 113cac6
commit e44f33e
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/wpical/src/main/native/cpp/WPIcal.cpp b/wpical/src/main/native/cpp/WPIcal.cpp
@@ -441,7 +441,9 @@ void CombineCalibrations() {
         if (layoutPath != "") {
           auto tagPose = calibratedFieldLayouts[layoutPath].GetTagPose(tagId);
           if (tagPose) {
-            tags.emplace_back(tagId, tagPose.value());
+            // TODO: remove variable when clang 16 is available on Mac
+            frc::AprilTag tag{tagId, tagPose.value()};
+            tags.emplace_back(tag);
           }
         }
       }

diff --git a/wpical/src/main/native/cpp/fieldcalibration.cpp b/wpical/src/main/native/cpp/fieldcalibration.cpp
@@ -417,7 +417,8 @@ std::optional<frc::AprilTagFieldLayout> fieldcalibration::calibrate(
     // Transformation from world
     Eigen::Matrix4d correctedTransform =
         pinnedTagTransform * correctionA * transform * correctionB;
-    tags.emplace_back(tagId, frc::Pose3d{correctedTransform});
+    frc::AprilTag tag{tagId, frc::Pose3d{correctedTransform}};
+    tags.emplace_back(tag);
   }
   return frc::AprilTagFieldLayout{tags, idealLayout.GetFieldLength(),
                                   idealLayout.GetFieldWidth()};

diff --git a/wpical/src/main/native/cpp/fmap.cpp b/wpical/src/main/native/cpp/fmap.cpp
@@ -19,8 +19,10 @@ Fieldmap::Fieldmap(std::string type, std::vector<Fiducial> fiducials)
 Fieldmap::Fieldmap(const frc::AprilTagFieldLayout& layout) : type("frc") {
   // https://docs.limelightvision.io/docs/docs-limelight/pipeline-apriltag/apriltag-map-specification
   for (auto tag : layout.GetTags()) {
-    fiducials.emplace_back("apriltag3_36h11_classic", tag.ID, 165.1,
-                           tag.pose.ToMatrix(), 1);
+    // TODO: remove variable when clang 16 is available on Mac
+    Fiducial fiducial{"apriltag3_36h11_classic", tag.ID, 165.1,
+                      tag.pose.ToMatrix(), 1};
+    fiducials.emplace_back(fiducial);
   }
 }