Instantiating template base classes in derived class .cpp files

gtsam/inference/FactorGraph.h

@@ -335,10 +335,10 @@ namespace gtsam {
     void replace(size_t index, sharedFactor factor) { at(index) = factor; }
 
     /** Erase factor and rearrange other factors to take up the empty space */
-    void erase(const_iterator item) { factors_.erase(item); }
+    void erase(iterator item) { factors_.erase(item); }
 
     /** Erase factors and rearrange other factors to take up the empty space */
-    void erase(const_iterator first, const_iterator last) { factors_.erase(first, last); }
+    void erase(iterator first, iterator last) { factors_.erase(first, last); }
 
     /// @}
     /// @name Advanced Interface

gtsam/linear/GaussianBayesNet.cpp

@@ -30,6 +30,9 @@ using namespace gtsam;
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class FactorGraph<GaussianConditional>;
+
   /* ************************************************************************* */
   bool GaussianBayesNet::equals(const This& bn, double tol) const
   {

gtsam/linear/GaussianBayesTree.cpp

@@ -26,6 +26,10 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>;
+  template class BayesTree<GaussianBayesTreeClique>;
+
   /* ************************************************************************* */
   namespace internal
   {

gtsam/linear/GaussianEliminationTree.cpp

@@ -21,6 +21,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class EliminationTree<GaussianBayesNet, GaussianFactorGraph>;
+
   /* ************************************************************************* */
   GaussianEliminationTree::GaussianEliminationTree(
     const GaussianFactorGraph& factorGraph, const VariableIndex& structure,

gtsam/linear/GaussianFactorGraph.cpp

@@ -35,6 +35,10 @@ using namespace gtsam;
 
 namespace gtsam {
 
+  // Instantiate base classes
+  template class FactorGraph<GaussianFactor>;
+  template class EliminateableFactorGraph<GaussianFactorGraph>;
+
   /* ************************************************************************* */
   bool GaussianFactorGraph::equals(const This& fg, double tol) const
   {

gtsam/linear/GaussianISAM.cpp

@@ -21,6 +21,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class ISAM<GaussianBayesTree>;
+
   /* ************************************************************************* */
   GaussianISAM::GaussianISAM() {}
 

gtsam/linear/GaussianJunctionTree.cpp

@@ -22,6 +22,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class JunctionTree<GaussianBayesTree, GaussianFactorGraph>;
+
   /* ************************************************************************* */
   GaussianJunctionTree::GaussianJunctionTree(
     const GaussianEliminationTree& eliminationTree) :

gtsam/symbolic/SymbolicBayesNet.cpp

@@ -24,6 +24,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class FactorGraph<SymbolicConditional>;
+
   /* ************************************************************************* */
   bool SymbolicBayesNet::equals(const This& bn, double tol) const
   {

gtsam/symbolic/SymbolicBayesTree.cpp

@@ -27,6 +27,10 @@
 
 namespace gtsam {
 
+  // Instantiate base classes
+  template class BayesTreeCliqueBase<SymbolicBayesTreeClique, SymbolicFactorGraph>;
+  template class BayesTree<SymbolicBayesTreeClique>;
+
   /* ************************************************************************* */
   SymbolicBayesTree::SymbolicBayesTree(const SymbolicBayesTree& other) :
     Base(other) {}

gtsam/symbolic/SymbolicEliminationTree.cpp

@@ -21,6 +21,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class EliminationTree<SymbolicBayesNet, SymbolicFactorGraph>;
+
   /* ************************************************************************* */
   SymbolicEliminationTree::SymbolicEliminationTree(
     const SymbolicFactorGraph& factorGraph, const VariableIndex& structure,

gtsam/symbolic/SymbolicFactorGraph.cpp

@@ -27,6 +27,10 @@
 
 namespace gtsam {
 
+  // Instantiate base classes
+  template class FactorGraph<SymbolicFactor>;
+  template class EliminateableFactorGraph<SymbolicFactorGraph>;
+
   using namespace std;
 
   /* ************************************************************************* */

gtsam/symbolic/SymbolicISAM.cpp

@@ -21,6 +21,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class ISAM<SymbolicBayesTree>;
+
   /* ************************************************************************* */
   SymbolicISAM::SymbolicISAM() {}
 

gtsam/symbolic/SymbolicJunctionTree.cpp

@@ -22,6 +22,9 @@
 
 namespace gtsam {
 
+  // Instantiate base class
+  template class JunctionTree<SymbolicBayesTree, SymbolicFactorGraph>;
+
   /* ************************************************************************* */
   SymbolicJunctionTree::SymbolicJunctionTree(
     const SymbolicEliminationTree& eliminationTree) :