diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h index e1f8ece8d..394b22b6b 100644 --- a/gtsam/nonlinear/FunctorizedFactor.h +++ b/gtsam/nonlinear/FunctorizedFactor.h @@ -56,7 +56,7 @@ namespace gtsam { * MultiplyFunctor(multiplier)); */ template -class GTSAM_EXPORT FunctorizedFactor : public NoiseModelFactor1 { +class FunctorizedFactor : public NoiseModelFactor1 { private: using Base = NoiseModelFactor1; @@ -155,7 +155,7 @@ FunctorizedFactor MakeFunctorizedFactor(Key key, const R &z, * @param T2: The second argument type for the functor. */ template -class GTSAM_EXPORT FunctorizedFactor2 : public NoiseModelFactor2 { +class FunctorizedFactor2 : public NoiseModelFactor2 { private: using Base = NoiseModelFactor2; diff --git a/gtsam/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h index efc095775..16094b67a 100644 --- a/gtsam/nonlinear/LinearContainerFactor.h +++ b/gtsam/nonlinear/LinearContainerFactor.h @@ -23,14 +23,14 @@ namespace gtsam { * This factor does have the ability to perform relinearization under small-angle and * linearity assumptions if a linearization point is added. */ -class LinearContainerFactor : public NonlinearFactor { +class GTSAM_EXPORT LinearContainerFactor : public NonlinearFactor { protected: GaussianFactor::shared_ptr factor_; boost::optional linearizationPoint_; /** direct copy constructor */ - GTSAM_EXPORT LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional& linearizationPoint); + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional& linearizationPoint); // Some handy typedefs typedef NonlinearFactor Base; @@ -44,13 +44,13 @@ public: LinearContainerFactor() {} /** Primary constructor: store a linear factor with optional linearization point */ - GTSAM_EXPORT LinearContainerFactor(const JacobianFactor& factor, const Values& linearizationPoint = Values()); + LinearContainerFactor(const JacobianFactor& factor, const Values& linearizationPoint = Values()); /** Primary constructor: store a linear factor with optional linearization point */ - GTSAM_EXPORT LinearContainerFactor(const HessianFactor& factor, const Values& linearizationPoint = Values()); + LinearContainerFactor(const HessianFactor& factor, const Values& linearizationPoint = Values()); /** Constructor from shared_ptr */ - GTSAM_EXPORT LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Values& linearizationPoint = Values()); + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Values& linearizationPoint = Values()); // Access @@ -59,10 +59,10 @@ public: // Testable /** print */ - GTSAM_EXPORT void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override; + void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override; /** Check if two factors are equal */ - GTSAM_EXPORT bool equals(const NonlinearFactor& f, double tol = 1e-9) const override; + bool equals(const NonlinearFactor& f, double tol = 1e-9) const override; // NonlinearFactor @@ -74,10 +74,10 @@ public: * * @return nonlinear error if linearizationPoint present, zero otherwise */ - GTSAM_EXPORT double error(const Values& c) const override; + double error(const Values& c) const override; /** get the dimension of the factor: rows of linear factor */ - GTSAM_EXPORT size_t dim() const override; + size_t dim() const override; /** Extract the linearization point used in recalculating error */ const boost::optional& linearizationPoint() const { return linearizationPoint_; } @@ -98,17 +98,17 @@ public: * TODO: better approximation of relinearization * TODO: switchable modes for approximation technique */ - GTSAM_EXPORT GaussianFactor::shared_ptr linearize(const Values& c) const override; + GaussianFactor::shared_ptr linearize(const Values& c) const override; /** * Creates an anti-factor directly */ - GTSAM_EXPORT GaussianFactor::shared_ptr negateToGaussian() const; + GaussianFactor::shared_ptr negateToGaussian() const; /** * Creates the equivalent anti-factor as another LinearContainerFactor. */ - GTSAM_EXPORT NonlinearFactor::shared_ptr negateToNonlinear() const; + NonlinearFactor::shared_ptr negateToNonlinear() const; /** * Creates a shared_ptr clone of the factor - needs to be specialized to allow @@ -140,25 +140,24 @@ public: /** * Simple checks whether this is a Jacobian or Hessian factor */ - GTSAM_EXPORT bool isJacobian() const; - GTSAM_EXPORT bool isHessian() const; + bool isJacobian() const; + bool isHessian() const; /** Casts to JacobianFactor */ - GTSAM_EXPORT boost::shared_ptr toJacobian() const; + boost::shared_ptr toJacobian() const; /** Casts to HessianFactor */ - GTSAM_EXPORT boost::shared_ptr toHessian() const; + boost::shared_ptr toHessian() const; /** * Utility function for converting linear graphs to nonlinear graphs * consisting of LinearContainerFactors. */ - GTSAM_EXPORT static NonlinearFactorGraph ConvertLinearGraph(const GaussianFactorGraph& linear_graph, const Values& linearizationPoint = Values()); protected: - GTSAM_EXPORT void initializeLinearizationPoint(const Values& linearizationPoint); + void initializeLinearizationPoint(const Values& linearizationPoint); private: /** Serialization function */