From 1ed27005156c8b086701beb32b1194436d3e591d Mon Sep 17 00:00:00 2001
From: Chris Beall <cbeall3@gatech.edu>
Date: Thu, 17 Apr 2014 22:49:04 -0400
Subject: [PATCH] Fix errors on Windows with VS 2010

---
 gtsam/geometry/EssentialMatrix.h     | 4 ++--
 gtsam/geometry/tests/testSphere2.cpp | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 74a1cd798..3c9568c3d 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -150,10 +150,10 @@ public:
   /// @{
 
   /// stream to stream
-  friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E);
+  GTSAM_EXPORT friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E);
 
   /// stream from stream
-  friend std::istream& operator >>(std::istream& is, EssentialMatrix& E);
+  GTSAM_EXPORT friend std::istream& operator >>(std::istream& is, EssentialMatrix& E);
 
   /// @}
 
diff --git a/gtsam/geometry/tests/testSphere2.cpp b/gtsam/geometry/tests/testSphere2.cpp
index 3009d5d0d..eb45ea60f 100644
--- a/gtsam/geometry/tests/testSphere2.cpp
+++ b/gtsam/geometry/tests/testSphere2.cpp
@@ -26,6 +26,7 @@
 #include <boost/bind.hpp>
 #include <boost/foreach.hpp>
 #include <boost/random.hpp>
+#include <boost/thread.hpp>
 #include <boost/assign/std/vector.hpp>
 #include <cmath>
 
@@ -233,7 +234,7 @@ TEST(Unit3, localCoordinates_retract) {
   for (size_t i = 0; i < numIterations; i++) {
 
     // Sleep for the random number generator (TODO?: Better create all of them first).
-    sleep(0);
+    boost::this_thread::sleep(boost::posix_time::milliseconds(0));
 
     // Create the two Unit3s.
     // NOTE: You can not create two totally random Unit3's because you cannot always compute
@@ -263,7 +264,7 @@ TEST(Unit3, localCoordinates_retract_expmap) {
   for (size_t i = 0; i < numIterations; i++) {
 
     // Sleep for the random number generator (TODO?: Better create all of them first).
-    sleep(0);
+    boost::this_thread::sleep(boost::posix_time::milliseconds(0));
 
     // Create the two Unit3s.
     // Unlike the above case, we can use any two sphers.