error: ‘constexpr’ needed for in-class initialization of static data member ‘const double sba::Con2d

一、写在前面

本文转载自 https://blog.csdn.net/wphkadn/article/details/88174109

二、原文内容及解决方法

In file included from /home/kadn/ROS/catkin_ws/src/slam_karto/src/spa_solver.h:30:0,
from /home/kadn/ROS/catkin_ws/src/slam_karto/src/slam_karto.cpp:41:
/opt/ros/kinetic/include/sparse_bundle_adjustment/spa2d.h:171:34: error: ‘constexpr’ needed for in-class initialization of static data member ‘const double sba::Con2dP2::qScale’ of non-integral type [-fpermissive]
const static double qScale = 1.0;

const static 和 static const一样，都不能在类内直接初始化非整形常量，可以修饰int，bool，char，但不能修饰其他类型（如double，float）

在c++11中，可以使用 constexpr static 或者 static constexpr 来修饰 非整形静态成员常量。

也就是说，上面这一行出错的代码要改成

constexpr static double qScale = 1.0;
//或者  static constexpr double qScale = 1.0;

转载链接：
[1] https://blog.csdn.net/wphkadn/article/details/88174109