Merge branch 'trunk'

gtsam/geometry/tests/testPoint2.cpp

@@ -77,6 +77,7 @@ TEST( Point2, unit) {
   EXPECT(assert_equal(Point2(sqrt(2.0)/2.0, sqrt(2.0)/2.0), p2.unit(), 1e-6));
 }
 
+namespace {
   /* ************************************************************************* */
   // some shared test values
   Point2 x1, x2(1, 1), x3(1, 1);
@@ -86,6 +87,7 @@ Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3);
   LieVector norm_proxy(const Point2& point) {
     return LieVector(point.norm());
   }
+}
 TEST( Point2, norm ) {
   Point2 p0(cos(5.0), sin(5.0));
   DOUBLES_EQUAL(1, p0.norm(), 1e-6);
@@ -109,9 +111,11 @@ TEST( Point2, norm ) {
 }
 
 /* ************************************************************************* */
+namespace {
   LieVector distance_proxy(const Point2& location, const Point2& point) {
     return LieVector(location.distance(point));
   }
+}
 TEST( Point2, distance ) {
   Matrix expectedH1, actualH1, expectedH2, actualH2;
 

gtsam/geometry/tests/testPose2.cpp

@@ -345,6 +345,7 @@ TEST(Pose2, inverse )
   EXPECT(assert_equal(numericalH,actualDinverse));
 }
 
+namespace {
   /* ************************************************************************* */
   Vector homogeneous(const Point2& p) {
     return Vector_(3, p.x(), p.y(), 1.0);
@@ -359,6 +360,7 @@ Matrix matrix(const Pose2& gTl) {
       gRl(1, 0), gRl(1, 1), gt.y(),
       0.0,       0.0,   1.0);
   }
+}
 
 /* ************************************************************************* */
 TEST( Pose2, matrix )
@@ -487,6 +489,7 @@ TEST(Pose2, members)
   EXPECT(pose.dim() == 3);
 }
 
+namespace {
   /* ************************************************************************* */
   // some shared test values
   Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI/4.0);
@@ -496,6 +499,7 @@ Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3);
   Rot2 bearing_proxy(const Pose2& pose, const Point2& pt) {
     return pose.bearing(pt);
   }
+}
 
 TEST( Pose2, bearing )
 {
@@ -529,9 +533,11 @@ TEST( Pose2, bearing )
 }
 
 /* ************************************************************************* */
+namespace {
   Rot2 bearing_pose_proxy(const Pose2& pose, const Pose2& pt) {
     return pose.bearing(pt);
   }
+}
 
 TEST( Pose2, bearing_pose )
 {
@@ -567,9 +573,11 @@ TEST( Pose2, bearing_pose )
 }
 
 /* ************************************************************************* */
+namespace {
   LieVector range_proxy(const Pose2& pose, const Point2& point) {
     return LieVector(pose.range(point));
   }
+}
 TEST( Pose2, range )
 {
   Matrix expectedH1, actualH1, expectedH2, actualH2;
@@ -602,9 +610,11 @@ TEST( Pose2, range )
 }
 
 /* ************************************************************************* */
+namespace {
   LieVector range_pose_proxy(const Pose2& pose, const Pose2& point) {
     return LieVector(pose.range(point));
   }
+}
 TEST( Pose2, range_pose )
 {
   Pose2 xl1(1, 0, M_PI/2.0), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI/2.0), xl4(1, 3, 0);
@@ -690,6 +700,7 @@ TEST(Pose2, align_3) {
   EXPECT(assert_equal(expected, *actual));
 }
 
+namespace {
   /* ************************************************************************* */
   // Prototype code to align two triangles using a rigid transform
   /* ************************************************************************* */
@@ -702,6 +713,7 @@ boost::optional<Pose2> align(const vector<Point2>& ps, const vector<Point2>& qs,
       correspondences += make_pair(ps[t1.i_],qs[t2.i_]), make_pair(ps[t1.j_],qs[t2.j_]), make_pair(ps[t1.k_],qs[t2.k_]);
       return align(correspondences);
   }
+}
 
 TEST(Pose2, align_4) {
   using namespace align_3;

gtsam_unstable/slam/SmartRangeFactor.h

@@ -22,7 +22,7 @@ namespace gtsam {
  * Smart factor for range SLAM
  * @addtogroup SLAM
  */
-class GTSAM_UNSTABLE_EXPORT SmartRangeFactor: public NoiseModelFactor {
+class SmartRangeFactor: public NoiseModelFactor {
 protected:
 
   struct Circle2 {