From 3ad7d356f3a8a7b9f8ae02f7309f1978a8b6f37d Mon Sep 17 00:00:00 2001
From: Diego Palma <dpalma@symbotic.com>
Date: Sat, 5 Oct 2024 01:08:12 +0000
Subject: [PATCH] Fix Mask class

Signed-off-by: Diego Palma <dpalma@symbotic.com>
---
 beluga/include/beluga/actions/overlay.hpp               | 6 +++---
 beluga/include/beluga/sensor/likelihood_field_model.hpp | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/beluga/include/beluga/actions/overlay.hpp b/beluga/include/beluga/actions/overlay.hpp
index 13a05945d..12706856b 100644
--- a/beluga/include/beluga/actions/overlay.hpp
+++ b/beluga/include/beluga/actions/overlay.hpp
@@ -46,7 +46,7 @@ struct overlay_base_fn {
       class ExecutionPolicy,
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<std::is_execution_policy_v<std::decay_t<ExecutionPolicy>>, int> = 0,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
@@ -70,7 +70,7 @@ struct overlay_base_fn {
       class ExecutionPolicy,
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<std::is_execution_policy_v<ExecutionPolicy>, int> = 0,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
@@ -101,7 +101,7 @@ struct overlay_fn : public overlay_base_fn {
   template <
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
   constexpr auto operator()(Range&& range, MaskRange&& mask, Mask&& mask_value) const -> Range& {
diff --git a/beluga/include/beluga/sensor/likelihood_field_model.hpp b/beluga/include/beluga/sensor/likelihood_field_model.hpp
index 87c748149..47031334b 100644
--- a/beluga/include/beluga/sensor/likelihood_field_model.hpp
+++ b/beluga/include/beluga/sensor/likelihood_field_model.hpp
@@ -187,8 +187,9 @@ class LikelihoodFieldModel {
     if (params.model_unknown_space) {
       const double inverse_max_distance = 1 / params.max_laser_distance;
       const double background_distance = -two_squared_sigma * std::log((inverse_max_distance - offset) / amplitude);
+      const auto mask_value = static_cast<ranges::range_value_t<decltype(distance_map)>>(background_distance);
 
-      distance_map |= beluga::actions::overlay(grid.unknown_mask(), background_distance);
+      distance_map |= beluga::actions::overlay(grid.unknown_mask(), mask_value);
     }
 
     auto likelihood_values = std::move(distance_map) |                               //