Merge pull request #363 from JuliaRobotics/master

v0.11.1-rc1
JuliaRobotics · Dec 10, 2020 · fedfff5 · fedfff5
2 parents 3f7bf63 + 3cdc1a2
commit fedfff5
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/Project.toml b/Project.toml
@@ -2,7 +2,7 @@ name = "RoME"
 uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "inference", "robotics"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.11.0"
+version = "0.11.1"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"

diff --git a/src/RobotUtils.jl b/src/RobotUtils.jl
@@ -286,7 +286,7 @@ function addOdoFG!(fgl::G,
                    solvable::Int=1,
                    labels::Vector{<:AbstractString}=String[]  ) where {G <: AbstractDFG}
   #
-  vprev, X, nextn = getLastPose(fgl)
+  vprev, X, nextn = getLastPoses(fgl)[1]
   vnext = addVariable!(fgl, nextn, Pose3, solvable=solvable, tags=labels)
   fact = addFactor!(fgl, [vprev;vnext], Z, graphinit=true)
 
@@ -446,9 +446,11 @@ function listVariablesLabelsWithinRange(fg::AbstractDFG,
     if occursin(regexKey, string(id)) && (from != 0 || to != 9999999999)
       vertlbl = string(id)
         # TODO won't work with nested labels
-        val_ = split(vertlbl[2:end],'_')[1]
-        val = parse(Int,val_)
-        if !(from <= val && val <= to)
+        m = match(r"\d+", string(id))
+        val = parse(Int, m.match)
+        # val_ = split(vertlbl[2:end],'_')[1]
+        # val = parse(Int,val_)
+        if !(from <= val <= to)
           mask[count] = false
         end
     end