Merge pull request #1470 from bmalhigh/hotfix/linuxbuild

Fix for build issues on Ubuntu with UE4.18

Author: sytelus

AirLib/include/api/VehicleApiBase.hpp

@@ -86,7 +86,7 @@ class VehicleApiBase : public UpdatableObject {
     //get reading from RC bound to vehicle (if unsupported then RCData::is_valid = false)
     virtual RCData getRCData() const
     {
-        static const RCData invalid_rc_data;
+        static const RCData invalid_rc_data {};
         return invalid_rc_data;
     }
     //set external RC data to vehicle (if unsupported then returns false)

AirLib/include/common/VectorMath.hpp

@@ -185,9 +185,15 @@ class VectorMathT {
 
     static QuaternionT rotateQuaternion(const QuaternionT& q, const QuaternionT& ref, bool assume_unit_quat)
     {
-        QuaternionT ref_n = assume_unit_quat ? ref : ref.normalized();
-        QuaternionT ref_n_i = assume_unit_quat ? ref.conjugate() : ref.inverse();
-        return ref_n * q * ref_n_i;
+        if (assume_unit_quat) {
+            QuaternionT ref_n = ref;
+            QuaternionT ref_n_i = ref.conjugate();
+            return ref_n * q * ref_n_i;
+        } else {
+            QuaternionT ref_n = ref.normalized();
+            QuaternionT ref_n_i = ref.inverse();
+            return ref_n * q * ref_n_i;
+        }
     }
 
     static QuaternionT rotateQuaternionReverse(const QuaternionT& q, const QuaternionT& ref, bool assume_unit_quat)

AirLib/include/common/common_utils/Utils.hpp

@@ -131,14 +131,21 @@ class Utils {
     }
 
     template <template<class, class, class...> class TContainer, typename TKey, typename TVal, typename... Args>
-    static const TVal& findOrDefault(const TContainer<TKey, TVal, Args...>& m, TKey const& key, const TVal& default_val = TVal())
+    static const TVal& findOrDefault(const TContainer<TKey, TVal, Args...>& m, TKey const& key, const TVal& default_val)
     {
         typename TContainer<TKey, TVal, Args...>::const_iterator it = m.find(key);
         if (it == m.end())
             return default_val;
         return it->second;
     }
 
+    template <template<class, class, class...> class TContainer, typename TKey, typename TVal, typename... Args>
+    static const TVal& findOrDefault(const TContainer<TKey, TVal, Args...>& m, TKey const& key)
+    {
+        static TVal default_val;
+        return findOrDefault(m, key, default_val);
+    }
+
     static Logger* getSetLogger(Logger* logger = nullptr)
     {
         static Logger logger_default_;

Unreal/Plugins/AirSim/Source/UnrealSensors/UnrealLidarSensor.h

@@ -5,7 +5,7 @@
 
 #include "common/Common.hpp"
 #include "GameFramework/Actor.h"
-#include "sensors/Lidar/LidarSimple.hpp"
+#include "sensors/lidar/LidarSimple.hpp"
 #include "NedTransform.h"
 
 // UnrealLidarSensor implementation that uses Ray Tracing in Unreal.