From 276514f8ecdbb194f7fc982a7ca12f3b4e9a4b24 Mon Sep 17 00:00:00 2001
From: Kalana Ratnayake <kalanaratnayake95@gmail.com>
Date: Thu, 23 May 2024 15:56:18 +1000
Subject: [PATCH] fixed build error based on
 https://github.com/stonier/sophus/pull/23

---
 sophus/common.hpp | 10 +++++-----
 sophus/se2.hpp    |  4 ++--
 sophus/se3.hpp    |  4 ++--
 sophus/so2.hpp    |  4 ++--
 sophus/so3.hpp    |  6 +++---
 5 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/sophus/common.hpp b/sophus/common.hpp
index 9e87ee600..5319a980a 100644
--- a/sophus/common.hpp
+++ b/sophus/common.hpp
@@ -203,22 +203,22 @@ class optional {
   explicit operator bool() const { return is_valid_; }
 
   T const* operator->() const {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return &type_;
   }
 
   T* operator->() {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return &type_;
   }
 
   T const& operator*() const {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return type_;
   }
 
   T& operator*() {
-    SOPHUS_ENSURE(is_valid_, "must be valid");
+    SOPHUS_ENSURE(is_valid_, "%s", "must be valid");
     return type_;
   }
 
@@ -236,4 +236,4 @@ struct IsUniformRandomBitGenerator {
                             std::is_unsigned<decltype(G::min())>::value &&
                             std::is_unsigned<decltype(G::max())>::value;
 };
-}  // namespace Sophus
+}  // namespace Sophus
\ No newline at end of file
diff --git a/sophus/se2.hpp b/sophus/se2.hpp
index d3968005b..6342c4633 100644
--- a/sophus/se2.hpp
+++ b/sophus/se2.hpp
@@ -630,7 +630,7 @@ class SE2 : public SE2Base<SE2<Scalar_, Options>> {
   /// Precondition: ``i`` must be in 0, 1 or 2.
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 || i <= 2, "i should be in range [0,2].");
+    SOPHUS_ENSURE(i >= 0 || i <= 2, "%s", "i should be in range [0,2].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);
@@ -852,4 +852,4 @@ class Map<Sophus::SE2<Scalar_> const, Options>
   Map<Sophus::SO2<Scalar> const, Options> const so2_;
   Map<Sophus::Vector2<Scalar> const, Options> const translation_;
 };
-}  // namespace Eigen
+}  // namespace Eigen
\ No newline at end of file
diff --git a/sophus/se3.hpp b/sophus/se3.hpp
index 414bbafd8..6c92d1263 100644
--- a/sophus/se3.hpp
+++ b/sophus/se3.hpp
@@ -881,7 +881,7 @@ class SE3 : public SE3Base<SE3<Scalar_, Options>> {
   /// Precondition: ``i`` must be in [0, 5].
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 && i <= 5, "i should be in range [0,5].");
+    SOPHUS_ENSURE(i >= 0 && i <= 5, "%s", "i should be in range [0,5].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);
@@ -1123,4 +1123,4 @@ class Map<Sophus::SE3<Scalar_> const, Options>
   Map<Sophus::SO3<Scalar> const, Options> const so3_;
   Map<Sophus::Vector3<Scalar> const, Options> const translation_;
 };
-}  // namespace Eigen
+}  // namespace Eigen
\ No newline at end of file
diff --git a/sophus/so2.hpp b/sophus/so2.hpp
index f296c1fbd..b963ccc15 100644
--- a/sophus/so2.hpp
+++ b/sophus/so2.hpp
@@ -172,7 +172,7 @@ class SO2Base {
     using std::hypot;
     // Avoid under/overflows for higher precision
     Scalar length = hypot(unit_complex().x(), unit_complex().y());
-    SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(),
+    SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(), "%s",
                   "Complex number should not be close to zero!");
     unit_complex_nonconst() /= length;
   }
@@ -634,4 +634,4 @@ class Map<Sophus::SO2<Scalar_> const, Options>
   ///
   Map<Matrix<Scalar, 2, 1> const, Options> const unit_complex_;
 };
-}  // namespace Eigen
+}  // namespace Eigen
\ No newline at end of file
diff --git a/sophus/so3.hpp b/sophus/so3.hpp
index c3975b0c6..f4ffb638e 100644
--- a/sophus/so3.hpp
+++ b/sophus/so3.hpp
@@ -668,7 +668,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
   ///
   SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
                                              Scalar* theta) {
-    SOPHUS_ENSURE(theta != nullptr, "must not be nullptr.");
+    SOPHUS_ENSURE(theta != nullptr, "%s", "must not be nullptr.");
     using std::abs;
     using std::cos;
     using std::sin;
@@ -733,7 +733,7 @@ class SO3 : public SO3Base<SO3<Scalar_, Options>> {
   /// Precondition: ``i`` must be 0, 1 or 2.
   ///
   SOPHUS_FUNC static Transformation generator(int i) {
-    SOPHUS_ENSURE(i >= 0 && i <= 2, "i should be in range [0,2].");
+    SOPHUS_ENSURE(i >= 0 && i <= 2, "%s", "i should be in range [0,2].");
     Tangent e;
     e.setZero();
     e[i] = Scalar(1);
@@ -931,4 +931,4 @@ class Map<Sophus::SO3<Scalar_> const, Options>
   ///
   Map<Eigen::Quaternion<Scalar> const, Options> const unit_quaternion_;
 };
-}  // namespace Eigen
+}  // namespace Eigen
\ No newline at end of file