Upgrade instruction for 0.8 to 0.9? I get many new errors related to types and templating about symforce HOT 1 CLOSED

Hey Arthur. Sorry about the inconvenience. To get your code working with SymForce 0.9 you can either change

std::optional<sym::OptimizationStats<Float>> stats;

to

std::optional<sym::SparseOptimizationStats<Float>> stats;

or

std::optional<sym::Optimizer<Float>::Stats> stats;

The problem was that the OptimizationStats template was changed to expect a matrix type instead of a float or double. The SparseOptimizationStats<Scalar> is an alias for an OptimizationStats<Eigen::SparseMatrix<Scalar>> (and is exactly the same as what OptimizationStats<Scalar> used to be).

If you have a sym::Optimizer<...> type, then the type of OptimizationStats that can be used with it will always be sym::Optimizer<...>::Stats.

from symforce.