  1 file changed, 18 insertions(+)
 
 diff --git a/src/lib/ftf_frame_conversions.cpp b/src/lib/ftf_frame_conversions.cpp
-index 003477dc8..296d09285 100644
+index b414931bc..e350a300e 100644
 --- a/src/lib/ftf_frame_conversions.cpp
 +++ b/src/lib/ftf_frame_conversions.cpp
-@@ -84,6 +84,9 @@ Eigen::Quaterniond transform_orientation(const Eigen::Quaterniond &q, const Stat
- 	case StaticTF::AIRCRAFT_TO_BASELINK:
- 	case StaticTF::BASELINK_TO_AIRCRAFT:
- 		return q * AIRCRAFT_BASELINK_Q;
+@@ -89,6 +89,9 @@ Eigen::Quaterniond transform_orientation(const Eigen::Quaterniond &q, const Stat
+ 	case StaticTF::ABSOLUTE_FRAME_AIRCRAFT_TO_BASELINK:
+ 	case StaticTF::ABSOLUTE_FRAME_BASELINK_TO_AIRCRAFT:
+ 		return AIRCRAFT_BASELINK_Q * q;	
 +	default:
 +		ROS_FATAL("Unexpected transformation");
 +		__builtin_unreachable ();
  	}
  }
  
-@@ -98,6 +101,9 @@ Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const StaticT
+@@ -103,6 +106,9 @@ Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const StaticT
  	case StaticTF::AIRCRAFT_TO_BASELINK:
  	case StaticTF::BASELINK_TO_AIRCRAFT:
  		return AIRCRAFT_BASELINK_AFFINE * vec;

 	}
 }
 
@@ -118,6 +124,9 @@ Covariance3d transform_static_frame(const Covariance3d &cov, const StaticTF tran
 	case StaticTF::BASELINK_TO_AIRCRAFT:
 		cov_out = cov_in * AIRCRAFT_BASELINK_Q;
 		return cov_out_;

From fbc4792b4ced0048c9159e80846fd2c73d1927a6 Mon Sep 17 00:00:00 2001
From: Martin Jansa <martin.jansa@lge.com>
Date: Wed, 12 Feb 2020 13:04:35 +0000
Subject: [PATCH] ftf_frame_convertions.cpp: work around few return-type issues
