From bf38bc81aa5e3f2e39a0d5a14aa8a21c85289c09 Mon Sep 17 00:00:00 2001
From: Longquan Chen <longquanchen@MARMAC1112393-2.local>
Date: Mon, 27 Sep 2021 10:56:00 -0400
Subject: [PATCH] Fix for Issue #175. 1. switch conversion issue, 2. static
 constexpr issue in class definition

---
 include/kimera-vio/mesh/MeshOptimization.h | 12 ++++++------
 src/backend/VioBackend.cpp                 | 18 ++++++++----------
 src/frontend/VisionImuFrontend.cpp         | 14 ++++++--------
 3 files changed, 20 insertions(+), 24 deletions(-)

diff --git a/include/kimera-vio/mesh/MeshOptimization.h b/include/kimera-vio/mesh/MeshOptimization.h
index fa1da6515..6545d7eec 100644
--- a/include/kimera-vio/mesh/MeshOptimization.h
+++ b/include/kimera-vio/mesh/MeshOptimization.h
@@ -167,12 +167,12 @@ class MeshOptimization {
  private:
   const MeshOptimizerType mesh_optimizer_type_;
 
-  static constexpr bool kUseSpringEnergies = false;
-  static constexpr float kSpringNoiseSigma = 0.5f;
-  static constexpr float kDepthMeasNoiseSigma = 0.1f;
-  static constexpr float kMissingZ = 10000.0f;
-  static constexpr float kMinZ = 0.00001f;
-  static constexpr float kMaxZ = 10.0f;
+  const bool kUseSpringEnergies = false;
+  const float kSpringNoiseSigma = 0.5f;
+  const float kDepthMeasNoiseSigma = 0.1f;
+  const float kMissingZ = 10000.0f;
+  const float kMinZ = 0.00001f;
+  const float kMaxZ = 10.0f;
 
   //! Camera with which the noisy point cloud and the 2d mesh were generated.
   Camera::ConstPtr mono_camera_;
diff --git a/src/backend/VioBackend.cpp b/src/backend/VioBackend.cpp
index a45d45ea9..fe822093a 100644
--- a/src/backend/VioBackend.cpp
+++ b/src/backend/VioBackend.cpp
@@ -133,21 +133,19 @@ BackendOutput::UniquePtr VioBackend::spinOnce(const BackendInput& input) {
   if (VLOG_IS_ON(10)) input.print();
 
   bool backend_status = false;
-  switch (backend_state_) {
-    case BackendState::Bootstrap: {
+  if(backend_state_ == BackendState::Bootstrap)
+  {
       initializeBackend(input);
       backend_status = true;
-      break;
-    }
-    case BackendState::Nominal: {
+  }
+  else if (backend_state_ == BackendState::Nominal)
+  {
       // Process data with VIO.
       backend_status = addVisualInertialStateAndOptimize(input);
-      break;
-    }
-    default: {
+  }
+  else
+  {
       LOG(FATAL) << "Unrecognized Backend state.";
-      break;
-    }
   }
 
   // Fill ouput_payload (it will remain nullptr if the backend_status is not ok)
diff --git a/src/frontend/VisionImuFrontend.cpp b/src/frontend/VisionImuFrontend.cpp
index a14fa9764..7d0727369 100644
--- a/src/frontend/VisionImuFrontend.cpp
+++ b/src/frontend/VisionImuFrontend.cpp
@@ -53,17 +53,15 @@ VisionImuFrontend::~VisionImuFrontend() {
 
 FrontendOutputPacketBase::UniquePtr VisionImuFrontend::spinOnce(
     FrontendInputPacketBase::UniquePtr&& input) {
-  switch (frontend_state_) {
-    case FrontendState::Bootstrap: {
+  if (frontend_state_ == FrontendState::Bootstrap) {
       return bootstrapSpin(std::move(input));
-    } break;
-    case FrontendState::Nominal: {
+    }
+  else if (frontend_state_ == FrontendState::Nominal) {
       return nominalSpin(std::move(input));
-    } break;
-    default: {
+    }
+  else {
       LOG(FATAL) << "Unrecognized Frontend state.";
-    } break;
-  }
+    }
 }
 
 void VisionImuFrontend::outlierRejectionMono(