Correcting bug fixes for Visual Studio. See bb issues #115,116,118 for more information

CMakeLists.txt

@@ -123,6 +123,11 @@ else()
 endif()
 
 
+if(${Boost_VERSION} EQUAL 105600)
+	message("Ignoring Boost restriction on optional lvalue assignment from rvalues")
+	add_definitions(-DBOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES)
+endif()
+
 ###############################################################################
 # Find TBB
 find_package(TBB)

gtsam/base/DerivedValue.h

@@ -16,8 +16,9 @@
  */
 
 #pragma once
-#include <boost/make_shared.hpp>
+
 #include <gtsam/base/Value.h>
+#include <boost/make_shared.hpp>
 
 //////////////////
 // The following includes windows.h in some MSVC versions, so we undef min, max, and ERROR

gtsam/base/LieMatrix.h

@@ -19,9 +19,9 @@
 
 #include <cstdarg>
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
 #include <gtsam/base/Matrix.h>
-#include <gtsam/base/DerivedValue.h>
 #include <boost/serialization/nvp.hpp>
 
 namespace gtsam {
@@ -40,9 +40,12 @@ struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> {
   /** initialize from a normal matrix */
   LieMatrix(const Matrix& v) : Matrix(v) {}
 
+// Currently TMP constructor causes ICE on MSVS 2013
+#if (_MSC_VER < 1800)
   /** initialize from a fixed size normal vector */
   template<int M, int N>
   LieMatrix(const Eigen::Matrix<double, M, N>& v) : Matrix(v) {}
+#endif
 
   /** constructor with size and initial data, row order ! */
   LieMatrix(size_t m, size_t n, const double* const data) :
@@ -82,6 +85,7 @@ struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> {
   inline LieMatrix retract(const Vector& v) const {
     if(v.size() != this->size())
       throw std::invalid_argument("LieMatrix::retract called with Vector of incorrect size");
+
     return LieMatrix(*this +
       Eigen::Map<const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> >(
       &v(0), this->rows(), this->cols()));

gtsam/base/LieVector.h

@@ -33,10 +33,13 @@ struct LieVector : public Vector, public DerivedValue<LieVector> {
 
   /** initialize from a normal vector */
   LieVector(const Vector& v) : Vector(v) {}
-
+  
+// Currently TMP constructor causes ICE on MSVS 2013
+#if (_MSC_VER < 1800)
   /** initialize from a fixed size normal vector */
   template<int N>
   LieVector(const Eigen::Matrix<double, N, 1>& v) : Vector(v) {}
+#endif
 
   /** wrap a double */
   LieVector(double d) : Vector((Vector(1) << d)) {}

gtsam/base/Matrix.h

@@ -467,7 +467,7 @@ GTSAM_EXPORT Matrix Cayley(const Matrix& A);
 /// Implementation of Cayley transform using fixed size matrices to let
 /// Eigen do more optimization
 template<int N>
-Eigen::Matrix<double, N, N> Cayley(const Eigen::Matrix<double, N, N>& A) {
+Eigen::Matrix<double, N, N> CayleyFixed(const Eigen::Matrix<double, N, N>& A) {
   typedef Eigen::Matrix<double, N, N> FMat;
   return (FMat::Identity() - A)*(FMat::Identity() + A).inverse();
 }

gtsam/geometry/Rot3M.cpp

@@ -240,7 +240,7 @@ Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
     return retractCayley(omega);
   } else if(mode == Rot3::SLOW_CAYLEY) {
     Matrix Omega = skewSymmetric(omega);
-    return (*this)*Cayley<3>(-Omega/2);
+    return (*this)*CayleyFixed<3>(-Omega/2);
   } else {
     assert(false);
     exit(1);
@@ -269,7 +269,7 @@ Vector3 Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const
     // Create a fixed-size matrix
     Eigen::Matrix3d A(between(T).matrix());
     // using templated version of Cayley
-    Eigen::Matrix3d Omega = Cayley<3>(A);
+    Eigen::Matrix3d Omega = CayleyFixed<3>(A);
     return -2*Vector3(Omega(2,1),Omega(0,2),Omega(1,0));
   } else {
     assert(false);

gtsam/nonlinear/LinearContainerFactor.h

@@ -117,7 +117,7 @@ public:
 
   // casting syntactic sugar
 
-  inline bool hasLinearizationPoint() const { return linearizationPoint_; }
+  inline bool hasLinearizationPoint() const { return linearizationPoint_.is_initialized(); }
 
   /**
    * Simple checks whether this is a Jacobian or Hessian factor

gtsam/symbolic/tests/testSymbolicBayesTree.cpp

@@ -251,7 +251,7 @@ TEST( BayesTree, shortcutCheck )
   // Check if all the cached shortcuts are cleared
   rootClique->deleteCachedShortcuts();
   BOOST_FOREACH(SymbolicBayesTree::sharedClique& clique, allCliques) {
-    bool notCleared = clique->cachedSeparatorMarginal();
+    bool notCleared = clique->cachedSeparatorMarginal().is_initialized();
     CHECK( notCleared == false);
   }
   EXPECT_LONGS_EQUAL(0, (long)rootClique->numCachedSeparatorMarginals());