Solved some linking problems

.cproject

@@ -468,7 +468,6 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-						<buildArguments/>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -476,6 +475,7 @@
 </target>
 <target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSymbolicBayesNet.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -483,7 +483,6 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-						<buildArguments/>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -739,12 +738,19 @@
 </target>
 <target name="testGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-						<buildArguments/>
 <buildTarget>testGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testPose3Graph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments>-j2</buildArguments>
+<buildTarget>testPose3Graph.run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
 <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-j2</buildArguments>

cpp/Pose2Graph.cpp

@@ -7,6 +7,8 @@
 #include "Pose2Graph.h"
 #include "FactorGraph-inl.h"
 #include "NonlinearFactorGraph-inl.h"
+#include "NonlinearOptimizer-inl.h"
+#include "NonlinearEquality.h"
 #include "graph-inl.h"
 
 using namespace std;
@@ -17,14 +19,16 @@ namespace gtsam {
 	// explicit instantiation so all the code is there and we can link with it
 	template class FactorGraph<NonlinearFactor<Pose2Config> > ;
 	template class NonlinearFactorGraph<Pose2Config> ;
-//template class NonlinearOptimizer<Pose2Graph, Pose2Config> ;
+	template class NonlinearEquality<Pose2Config,Pose2Config::Key,Pose2> ;
+	template class NonlinearOptimizer<Pose2Graph, Pose2Config>;
 
-/* ************************************************************************* */
+	void Pose2Graph::addConstraint(const Pose2Config::Key& key, const Pose2& pose) {
+		push_back(sharedFactor(new NonlinearEquality<Pose2Config, Pose2Config::Key,
+				Pose2> (key, pose)));
+	}
 
 	bool Pose2Graph::equals(const Pose2Graph& p, double tol) const {
 		return false;
 	}
 
-/* ************************************************************************* */
-
 } // namespace gtsam

cpp/Pose2Graph.h

@@ -8,9 +8,7 @@
 #pragma once
 
 #include "Pose2Factor.h"
-#include "Pose2Config.h"
 #include "NonlinearFactorGraph.h"
-#include "NonlinearEquality.h"
 
 namespace gtsam {
 
@@ -43,9 +41,7 @@ namespace gtsam {
 		 *  @param key of pose
 		 *  @param pose which pose to constrain it to
 		 */
-		inline void addConstraint(const Pose2Config::Key& key, const Pose2& pose =	Pose2()) {
+		void addConstraint(const Pose2Config::Key& key, const Pose2& pose =	Pose2());
-			push_back(sharedFactor(new NonlinearEquality<Pose2Config,Pose2Config::Key,Pose2>(key, pose)));
-		}
 
 	private:
 		/** Serialization function */

cpp/Pose3Graph.cpp

@@ -3,20 +3,34 @@
  * @brief   A factor graph for the 2D PoseSLAM problem
  * @authors Frank Dellaert, Viorela Ila
  */
-//#include "NonlinearOptimizer-inl.h"
+
+#include "Pose3Graph.h"
 #include "FactorGraph-inl.h"
 #include "NonlinearFactorGraph-inl.h"
-#include "Pose3Graph.h"
+#include "NonlinearOptimizer-inl.h"
+#include "NonlinearEquality.h"
+#include "graph-inl.h"
 
 namespace gtsam {
 
 	// explicit instantiation so all the code is there and we can link with it
 	template class FactorGraph<NonlinearFactor<gtsam::Pose3Config> > ;
 	template class NonlinearFactorGraph<Pose3Config> ;
-//template class NonlinearOptimizer<Pose3Graph, Pose3Config> ;
+	template class NonlinearEquality<Pose3Config, Pose3Config::Key, Pose3> ;
+	template class NonlinearOptimizer<Pose3Graph, Pose3Config> ;
 
 	bool Pose3Graph::equals(const Pose3Graph& p, double tol) const {
 		return false;
 	}
 
+	/**
+	 *  Add an equality constraint on a pose
+	 *  @param key of pose
+	 *  @param pose which pose to constrain it to
+	 */
+	void Pose3Graph::addConstraint(const Pose3Config::Key& key, const Pose3& pose) {
+		push_back(sharedFactor(new NonlinearEquality<Pose3Config, Pose3Config::Key,
+				Pose3> (key, pose)));
+	}
+
 } // namespace gtsam

cpp/Pose3Graph.h

@@ -8,9 +8,7 @@
 #pragma once
 
 #include "Pose3Factor.h"
-#include "Pose3Config.h"
 #include "NonlinearFactorGraph.h"
-#include "NonlinearEquality.h"
 
 namespace gtsam {
 
@@ -43,9 +41,7 @@ namespace gtsam {
 		 *  @param key of pose
 		 *  @param pose which pose to constrain it to
 		 */
-		inline void addConstraint(const Pose3Config::Key& key, const Pose3& pose =Pose3()) {
+	 void addConstraint(const Pose3Config::Key& key, const Pose3& pose =Pose3());
-			push_back(sharedFactor(new NonlinearEquality<Pose3Config,Pose3Config::Key,Pose3> (key, pose)));
-		}
 
 	private:
 		/** Serialization function */