Initial changes to compile on windows

gtsam/base/DerivedValue.h

@@ -50,7 +50,7 @@ public:
    * Destroy and deallocate this object, only if it was originally allocated using clone_().
    */
   virtual void deallocate_() const {
-    this->~Value();
+    this->Value::~Value();
   	boost::singleton_pool<PoolTag, sizeof(DERIVED)>::free((void*)this);
   }
 

gtsam/base/Matrix.cpp

@@ -15,6 +15,7 @@
  * @author Christian Potthast
  */
 
+#include <gtsam/base/types.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/Vector.h>

gtsam/base/Matrix.h

@@ -26,6 +26,7 @@
 #include <gtsam/3rdparty/Eigen/Eigen/QR>
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
+#include <boost/math/special_functions/fpclassify.hpp>
 
 /**
  * Matrix is a typedef in the gtsam namespace
@@ -87,7 +88,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase<MATRIX>& A, const Eigen::DenseBas
 
 	for(size_t i=0; i<m1; i++)
 		for(size_t j=0; j<n1; j++) {
-			if(std::isnan(A(i,j)) xor std::isnan(B(i,j)))
+			if(boost::math::isnan(A(i,j)) ^ boost::math::isnan(B(i,j)))
 				return false;
 			else if(fabs(A(i,j) - B(i,j)) > tol)
 				return false;

gtsam/base/Vector.cpp

@@ -35,6 +35,7 @@
 #include <boost/random/variate_generator.hpp>
 
 #include <gtsam/base/Vector.h>
+#include <gtsam/base/types.h>
 
 using namespace std;
 
@@ -169,7 +170,7 @@ bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol) {
 	if (vec1.size()!=vec2.size()) return false;
 	size_t m = vec1.size();
 	for(size_t i=0; i<m; ++i) {
-		if(isnan(vec1[i]) xor isnan(vec2[i]))
+		if(isnan(vec1[i]) ^ isnan(vec2[i]))
 			return false;
 		if(fabs(vec1[i] - vec2[i]) > tol)
 			return false;
@@ -182,7 +183,7 @@ bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol
 	if (vec1.size()!=vec2.size()) return false;
 	size_t m = vec1.size();
 	for(size_t i=0; i<m; ++i) {
-		if(isnan(vec1[i]) xor isnan(vec2[i]))
+		if(isnan(vec1[i]) ^ isnan(vec2[i]))
 			return false;
 		if(fabs(vec1[i] - vec2[i]) > tol)
 			return false;

gtsam/base/cholesky.cpp

@@ -16,6 +16,10 @@
  * @date    Nov 5, 2010
  */
 
+#include <functional>
+#include <boost/format.hpp>
+#include <boost/bind.hpp>
+
 #include <gtsam/base/debug.h>
 #include <gtsam/base/cholesky.h>
 #include <gtsam/base/timing.h>
@@ -23,9 +27,6 @@
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
 #include <gtsam/3rdparty/Eigen/Eigen/Dense>
 
-#include <boost/format.hpp>
-#include <boost/bind.hpp>
-
 using namespace std;
 
 namespace gtsam {
@@ -129,7 +130,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) {
   tic(1, "lld");
   ABC.block(0,0,nFrontal,nFrontal).triangularView<Eigen::Upper>() =
       ABC.block(0,0,nFrontal,nFrontal).selfadjointView<Eigen::Upper>().llt().matrixU();
-  assert(ABC.topLeftCorner(nFrontal,nFrontal).triangularView<Eigen::Upper>().toDenseMatrix().unaryExpr(&isfinite<double>).all());
+  assert(ABC.topLeftCorner(nFrontal,nFrontal).triangularView<Eigen::Upper>().toDenseMatrix().unaryExpr(ptr_fun(isfinite<double>)).all());
   toc(1, "lld");
 
   if(debug) cout << "R:\n" << Eigen::MatrixXd(ABC.topLeftCorner(nFrontal,nFrontal).triangularView<Eigen::Upper>()) << endl;
@@ -140,7 +141,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) {
     ABC.topLeftCorner(nFrontal,nFrontal).triangularView<Eigen::Upper>().transpose().solveInPlace(
         ABC.topRightCorner(nFrontal, n-nFrontal));
   }
-  assert(ABC.topRightCorner(nFrontal, n-nFrontal).unaryExpr(&isfinite<double>).all());
+  assert(ABC.topRightCorner(nFrontal, n-nFrontal).unaryExpr(ptr_fun(isfinite<double>)).all());
   if(debug) cout << "S:\n" << ABC.topRightCorner(nFrontal, n-nFrontal) << endl;
   toc(2, "compute S");
 
@@ -150,7 +151,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) {
   if(n - nFrontal > 0)
     ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>().rankUpdate(
         ABC.topRightCorner(nFrontal, n-nFrontal).transpose(), -1.0);
-  assert(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>().toDenseMatrix().unaryExpr(&isfinite<double>).all());
+  assert(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>().toDenseMatrix().unaryExpr(ptr_fun(isfinite<double>)).all());
   if(debug) cout << "L:\n" << Eigen::MatrixXd(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>()) << endl;
   toc(3, "compute L");
 }

gtsam/base/timing.cpp

@@ -241,9 +241,11 @@ void Timing::print() {
 
 /* ************************************************************************* */
 double _tic_() {
-  struct timeval t;
+  typedef boost::chrono::high_resolution_clock clock_t;
-  gettimeofday(&t, NULL);
+  typedef boost::chrono::duration<double> duration_t;
-  return ((double)t.tv_sec + ((double)t.tv_usec)/1000000.);
+
+  clock_t::time_point t = clock_t::now();
+  return boost::chrono::duration_cast< duration_t >(t.time_since_epoch()).count();
 }
 
 /* ************************************************************************* */

gtsam/base/types.h

@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include <unistd.h>
+#include <cstddef>
 
 namespace gtsam {
 
@@ -71,3 +71,17 @@ namespace gtsam {
 
 }
 
+#ifdef _MSC_VER
+
+#include <boost/math/special_functions/fpclassify.hpp>
+using boost::math::isfinite;
+using boost::math::isnan;
+using boost::math::isinf;
+
+#include <boost/math/constants/constants.hpp>
+#ifndef M_PI
+#define M_PI (boost::math::constants::pi<double>())
+#endif
+
+#endif
+