From 1bb26f86afd26b6a786bf2748c1f939bde4f6173 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 9 Jun 2024 21:34:37 -0700
Subject: [PATCH] Attempt to resolve Windows linking

---
 gtsam/navigation/PreintegratedRotation.cpp    |  6 ++-
 gtsam/navigation/PreintegratedRotation.h      | 50 +++++++++----------
 .../tests/testPreintegratedRotation.cpp       |  6 +--
 3 files changed, 30 insertions(+), 32 deletions(-)

diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp
index 374a09359..ebf98bc15 100644
--- a/gtsam/navigation/PreintegratedRotation.cpp
+++ b/gtsam/navigation/PreintegratedRotation.cpp
@@ -68,7 +68,8 @@ bool PreintegratedRotation::equals(const PreintegratedRotation& other,
       && equal_with_abs_tol(delRdelBiasOmega_, other.delRdelBiasOmega_, tol);
 }
 
-Rot3 PreintegratedRotation::IncrementalRotation::operator()(
+namespace internal {
+Rot3 IncrementalRotation::operator()(
     const Vector3& bias, OptionalJacobian<3, 3> H_bias) const {
   // First we compensate the measurements for the bias
   Vector3 correctedOmega = measuredOmega - bias;
@@ -93,12 +94,13 @@ Rot3 PreintegratedRotation::IncrementalRotation::operator()(
   }
   return incrR;
 }
+}  // namespace internal
 
 void PreintegratedRotation::integrateGyroMeasurement(
     const Vector3& measuredOmega, const Vector3& biasHat, double deltaT,
     OptionalJacobian<3, 3> F) {
   Matrix3 H_bias;
-  IncrementalRotation f{measuredOmega, deltaT, p_->body_P_sensor};
+  internal::IncrementalRotation f{measuredOmega, deltaT, p_->body_P_sensor};
   const Rot3 incrR = f(biasHat, H_bias);
 
   // Update deltaTij and rotation
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index a36674062..3ff3eb3f1 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -176,32 +176,6 @@ class GTSAM_EXPORT PreintegratedRotation {
 
   /// @}
 
-  /// @name Internal, exposed for testing only
-  /// @{
-
-  /**
-   * @brief Function object for incremental rotation.
-   * @param measuredOmega The measured angular velocity (as given by the sensor)
-   * @param deltaT The time interval over which the rotation is integrated.
-   * @param body_P_sensor Optional transform between body and IMU.
-   */
-  struct IncrementalRotation {
-    const Vector3& measuredOmega;
-    const double deltaT;
-    const std::optional<Pose3>& body_P_sensor;
-
-    /**
-     * @brief Integrate angular velocity, but corrected by bias.
-     * @param bias The bias estimate
-     * @param H_bias Jacobian of the rotation w.r.t. bias.
-     * @return The incremental rotation
-     */
-    Rot3 operator()(const Vector3& bias,
-                    OptionalJacobian<3, 3> H_bias = {}) const;
-  };
-
-  /// @}
-
   /// @name Deprecated API
   /// @{
 
@@ -250,4 +224,28 @@ class GTSAM_EXPORT PreintegratedRotation {
 template <>
 struct traits<PreintegratedRotation> : public Testable<PreintegratedRotation> {};
 
+namespace internal {
+/**
+ * @brief Function object for incremental rotation.
+ * @param measuredOmega The measured angular velocity (as given by the sensor)
+ * @param deltaT The time interval over which the rotation is integrated.
+ * @param body_P_sensor Optional transform between body and IMU.
+ */
+struct IncrementalRotation {
+  const Vector3& measuredOmega;
+  const double deltaT;
+  const std::optional<Pose3>& body_P_sensor;
+
+  /**
+   * @brief Integrate angular velocity, but corrected by bias.
+   * @param bias The bias estimate
+   * @param H_bias Jacobian of the rotation w.r.t. bias.
+   * @return The incremental rotation
+   */
+  Rot3 operator()(const Vector3& bias,
+                  OptionalJacobian<3, 3> H_bias = {}) const;
+};
+
+}  // namespace internal
+
 }  /// namespace gtsam
diff --git a/gtsam/navigation/tests/testPreintegratedRotation.cpp b/gtsam/navigation/tests/testPreintegratedRotation.cpp
index b6486d030..1e27ca1e4 100644
--- a/gtsam/navigation/tests/testPreintegratedRotation.cpp
+++ b/gtsam/navigation/tests/testPreintegratedRotation.cpp
@@ -52,8 +52,7 @@ TEST(PreintegratedRotation, integrateGyroMeasurement) {
 
   // Check the value.
   Matrix3 H_bias;
-  PreintegratedRotation::IncrementalRotation f{measuredOmega, deltaT,
-                                               p->getBodyPSensor()};
+  internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
   const Rot3 incrR = f(bias, H_bias);
   Rot3 expected = Rot3::Roll(omega * deltaT);
   EXPECT(assert_equal(expected, incrR, 1e-9));
@@ -98,8 +97,7 @@ TEST(PreintegratedRotation, integrateGyroMeasurementWithTransform) {
 
   // Check the value.
   Matrix3 H_bias;
-  PreintegratedRotation::IncrementalRotation f{measuredOmega, deltaT,
-                                               p->getBodyPSensor()};
+  internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
   Rot3 expected = Rot3::Pitch(omega * deltaT);
   EXPECT(assert_equal(expected, f(bias, H_bias), 1e-9));