Fixed compile errors on windows

gtsam_unstable/CMakeLists.txt

@@ -39,7 +39,7 @@ set(gtsam_unstable_srcs
     ${discrete_srcs}
     ${dynamics_srcs}
     #${linear_srcs}    
-    #${nonlinear_srcs}
+    ${nonlinear_srcs}
     ${slam_srcs}
     ${navigation_srcs}
 )

gtsam_unstable/nonlinear/LinearizedFactor.cpp

@@ -56,7 +56,7 @@ LinearizedJacobianFactor::LinearizedJacobianFactor(const JacobianFactor::shared_
   AbMatrix fullMatrix = jacobian->matrix_augmented(true);
 
   // Create the dims array
-  size_t dims[jacobian->size() + 1];
+  size_t *dims = (size_t *)alloca(sizeof(size_t) * (jacobian->size() + 1));
   size_t index = 0;
   for(JacobianFactor::const_iterator iter = jacobian->begin(); iter != jacobian->end(); ++iter) {
     dims[index++] = jacobian->getDim(iter);
@@ -158,7 +158,7 @@ LinearizedHessianFactor::LinearizedHessianFactor(const HessianFactor::shared_ptr
   Matrix fullMatrix = hessian->info();
 
   // Create the dims array
-  size_t dims[hessian->size() + 1];
+  size_t *dims = (size_t*)alloca(sizeof(size_t)*(hessian->size() + 1));
   size_t index = 0;
   for(HessianFactor::const_iterator iter = hessian->begin(); iter != hessian->end(); ++iter) {
     dims[index++] = hessian->getDim(iter);

gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp

@@ -34,6 +34,8 @@
 using namespace std;
 using namespace gtsam;
 
+namespace {
+
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
 const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
@@ -428,6 +430,8 @@ void SymbolicPrintTree(const Clique& clique, const Ordering& ordering, const std
   }
 }
 
+}
+
 /* ************************************************************************* */
 TEST_UNSAFE( ConcurrentBatchFilter, update_Batch )
 {

gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp

@@ -34,6 +34,8 @@
 using namespace std;
 using namespace gtsam;
 
+namespace {
+
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
 const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
@@ -415,6 +417,8 @@ void SymbolicPrintTree(const Clique& clique, const Ordering& ordering, const std
   }
 }
 
+}
+
 /* ************************************************************************* */
 TEST_UNSAFE( ConcurrentBatchSmoother, update_Batch )
 {