From 8f20c0c9af2eee1f367faf44ced077b4147f55b8 Mon Sep 17 00:00:00 2001
From: aparikh <aparikh@sandia.gov>
Date: Tue, 9 Jan 2018 12:02:19 -0700
Subject: [PATCH 1/3] Update FindMKL.cmake and FindTBB.cmake - Find more recent
 versions of MKL - Work with Visual Studio 2015 (MSVC14)

---
 cmake/FindMKL.cmake | 18 ++++++++++++++----
 cmake/FindTBB.cmake |  4 ++++
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/cmake/FindMKL.cmake b/cmake/FindMKL.cmake
index 8fb3be25d..d64e779af 100644
--- a/cmake/FindMKL.cmake
+++ b/cmake/FindMKL.cmake
@@ -83,10 +83,20 @@ FIND_PATH(MKL_FFTW_INCLUDE_DIR
   NO_DEFAULT_PATH
 )
 
-IF(WIN32)
+IF(WIN32 AND MKL_ROOT_DIR)
         SET(MKL_LIB_SEARCHPATH $ENV{ICC_LIB_DIR} $ENV{MKL_LIB_DIR} "${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}" "${MKL_ROOT_DIR}/../compiler" "${MKL_ROOT_DIR}/../compiler/lib/${MKL_ARCH_DIR}")
-        
-        IF (MKL_INCLUDE_DIR MATCHES "10.")
+        IF(MKL_INCLUDE_DIR MATCHES "2017" OR MKL_INCLUDE_DIR MATCHES "2018")
+                IF(CMAKE_CL_64)
+                        SET(MKL_LIBS mkl_core mkl_intel_lp64 mkl_lapack95_lp64 mkl_blas95_lp64)
+                ELSE()
+                        SET(MKL_LIBS mkl_core mkl_intel_s mkl_lapack95 mkl_blas95)
+                ENDIF()
+                IF(TBB_FOUND)
+                        SET(MKL_LIBS ${MKL_LIBS} mkl_tbb_thread)
+                ELSE()
+                        SET(MKL_LIBS ${MKL_LIBS} mkl_intel_thread libiomp5md)
+                ENDIF()
+        ELSEIF(MKL_INCLUDE_DIR MATCHES "10.")
                 IF(CMAKE_CL_64)
                         SET(MKL_LIBS mkl_solver_lp64 mkl_core mkl_intel_lp64 mkl_intel_thread libguide mkl_lapack95_lp64 mkl_blas95_lp64)
                 ELSE()
@@ -115,7 +125,7 @@ IF(WIN32)
                 ENDIF()
         ENDFOREACH()
         SET(MKL_FOUND ON)
-ELSE() # UNIX and macOS
+ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
         FIND_LIBRARY(MKL_CORE_LIBRARY
           mkl_core
           PATHS
diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
index 45b33e3aa..f39d64601 100644
--- a/cmake/FindTBB.cmake
+++ b/cmake/FindTBB.cmake
@@ -82,6 +82,10 @@ if (WIN32)
         set(_TBB_COMPILER "vc11")
         set(TBB_COMPILER "vc11")
     endif(MSVC11)
+    if(MSVC14)
+        set(_TBB_COMPILER "vc14")
+        set(TBB_COMPILER "vc14")
+    endif(MSVC14)
     # Todo: add other Windows compilers such as ICL.
 	if(TBB_ARCHITECTURE)
 		set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})

From 0a5fd70f21b02be283efab4e37a6440ab96c44b5 Mon Sep 17 00:00:00 2001
From: anuppari <anuppari@gmail.com>
Date: Fri, 12 Jan 2018 16:08:02 -0700
Subject: [PATCH 2/3] Minor fix to select mkl libs based on tbb use

---
 cmake/FindMKL.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake/FindMKL.cmake b/cmake/FindMKL.cmake
index d64e779af..cbe46a908 100644
--- a/cmake/FindMKL.cmake
+++ b/cmake/FindMKL.cmake
@@ -91,7 +91,7 @@ IF(WIN32 AND MKL_ROOT_DIR)
                 ELSE()
                         SET(MKL_LIBS mkl_core mkl_intel_s mkl_lapack95 mkl_blas95)
                 ENDIF()
-                IF(TBB_FOUND)
+                IF(TBB_FOUND AND GTSAM_WITH_TBB)
                         SET(MKL_LIBS ${MKL_LIBS} mkl_tbb_thread)
                 ELSE()
                         SET(MKL_LIBS ${MKL_LIBS} mkl_intel_thread libiomp5md)

From 530f6e99fd1048b72591742b8c5cf9c6d85671ba Mon Sep 17 00:00:00 2001
From: Dominic Pattison <dominicpattison@gmail.com>
Date: Sun, 1 Apr 2018 15:32:27 +0000
Subject: [PATCH 3/3] Fix quaternion component error in Rot3 constructor

---
 gtsam/geometry/Rot3.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index bb0278953..58c150670 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -118,7 +118,7 @@ namespace gtsam {
      * @param q The quaternion
      */
     Rot3(const Quaternion& q);
-    Rot3(double x, double y, double z, double w) : Rot3(Quaternion(x, y, z, w)) {}
+    Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}
 
     /// Random, generates a random axis, then random angle \in [-p,pi]
     static Rot3 Random(boost::mt19937 & rng);