Fix windows test

.github/workflows/build-windows.yml

@@ -99,26 +99,64 @@ jobs:
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
+        shell: cmd
         run: |
-          # Since Visual Studio is a multi-generator, we need to use --config
+          :: Since Visual Studio is a multi-generator, we need to use --config
-          # https://stackoverflow.com/a/24470998/1236990
+          :: https://stackoverflow.com/a/24470998/1236990
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
 
-          # Run GTSAM tests
+          :: Target doesn't exist
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
 
-          # Run GTSAM_UNSTABLE tests
+      - name: Test
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+        shell: cmd
+        run: |
+          :: Run GTSAM tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+
+
+          :: Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition          

CMakeLists.txt

@@ -32,6 +32,14 @@ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
 ###############################################################################
 # Gather information, perform checks, set defaults
 
+if(MSVC)
+  set(MSVC_LINKER_FLAGS "/FORCE:MULTIPLE")
+  set(CMAKE_EXE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_MODULE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_SHARED_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_STATIC_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+endif()
+
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 include(GtsamMakeConfigFile)
 include(GNUInstallDirs)

gtsam/basis/Basis.h

@@ -80,7 +80,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  *
  * @ingroup basis
  */
-Matrix kroneckerProductIdentity(size_t M, const Weights& w);
+Matrix GTSAM_EXPORT kroneckerProductIdentity(size_t M, const Weights& w);
 
 /**
  * CRTP Base class for function bases

gtsam/discrete/SignatureParser.h

@@ -22,6 +22,8 @@
 #include <string>
 #include <vector>
 
+#include <gtsam/dllexport.h>
+
 namespace gtsam {
 /**
  * @brief A simple parser that replaces the boost spirit parser.
@@ -47,7 +49,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 

gtsam/geometry/Line3.h

@@ -146,7 +146,7 @@ class GTSAM_EXPORT Line3 {
    * @param Dline -  OptionalJacobian of transformed line with respect to l
    * @return Transformed line in camera frame
    */
-  friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
+  GTSAM_EXPORT friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
                            OptionalJacobian<4, 6> Dpose,
                            OptionalJacobian<4, 4> Dline);
 };

gtsam/geometry/Pose2.h

@@ -36,7 +36,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2: public LieGroup<Pose2, 3> {
+class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
 
 public:
 
@@ -112,10 +112,10 @@ public:
   /// @{
 
   /** print with optional string */
-  GTSAM_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** assert equality up to a tolerance */
-  GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
+  bool equals(const Pose2& pose, double tol = 1e-9) const;
 
   /// @}
   /// @name Group
@@ -125,7 +125,7 @@ public:
   inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
-  GTSAM_EXPORT Pose2 inverse() const;
+  Pose2 inverse() const;
 
   /// compose syntactic sugar
   inline Pose2 operator*(const Pose2& p2) const {
@@ -137,16 +137,16 @@ public:
   /// @{
 
   ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
-  GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
+  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
 
   ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
-  GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
+  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
 
   /**
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  GTSAM_EXPORT Matrix3 AdjointMap() const;
+  Matrix3 AdjointMap() const;
 
   /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
@@ -156,7 +156,7 @@ public:
   /**
    * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
    */
-  GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
+  static Matrix3 adjointMap(const Vector3& v);
 
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@@ -192,15 +192,15 @@ public:
   }
 
   /// Derivative of Expmap
-  GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
+  static Matrix3 ExpmapDerivative(const Vector3& v);
 
   /// Derivative of Logmap
-  GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
+  static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
-  struct ChartAtOrigin {
+  struct GTSAM_EXPORT ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+    static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+    static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
@@ -210,7 +210,7 @@ public:
   /// @{
 
   /** Return point coordinates in pose coordinate frame */
-  GTSAM_EXPORT Point2 transformTo(const Point2& point,
+  Point2 transformTo(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -222,7 +222,7 @@ public:
   Matrix transformTo(const Matrix& points) const;
 
   /** Return point coordinates in global frame */
-  GTSAM_EXPORT Point2 transformFrom(const Point2& point,
+  Point2 transformFrom(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -273,14 +273,14 @@ public:
   }
 
   //// return transformation matrix
-  GTSAM_EXPORT Matrix3 matrix() const;
+  Matrix3 matrix() const;
 
   /**
    * Calculate bearing to a landmark
    * @param point 2D location of landmark
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Point2& point,
+  Rot2 bearing(const Point2& point,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
 
   /**
@@ -288,7 +288,7 @@ public:
    * @param point SO(2) location of other pose
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
+  Rot2 bearing(const Pose2& pose,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
 
   /**
@@ -296,7 +296,7 @@ public:
    * @param point 2D location of landmark
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Point2& point,
+  double range(const Point2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 2> H2={}) const;
 
@@ -305,7 +305,7 @@ public:
    * @param point 2D location of other pose
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Pose2& point,
+  double range(const Pose2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 3> H2={}) const;
 

gtsam/geometry/Pose3.h

@@ -204,7 +204,7 @@ public:
   static Matrix6 LogmapDerivative(const Pose3& xi);
 
   // Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP
-  struct ChartAtOrigin {
+  struct GTSAM_EXPORT ChartAtOrigin {
     static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = {});
     static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = {});
   };

gtsam/hybrid/HybridFactorGraph.h

@@ -35,7 +35,7 @@ using SharedFactor = std::shared_ptr<Factor>;
  * Hybrid Factor Graph
  * Factor graph with utilities for hybrid factors.
  */
-class HybridFactorGraph : public FactorGraph<Factor> {
+class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
  public:
   using Base = FactorGraph<Factor>;
   using This = HybridFactorGraph;              ///< this class

gtsam/hybrid/HybridSmoother.h

@@ -24,7 +24,7 @@
 
 namespace gtsam {
 
-class HybridSmoother {
+class GTSAM_EXPORT HybridSmoother {
  private:
   HybridBayesNet hybridBayesNet_;
   HybridGaussianFactorGraph remainingFactorGraph_;

gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp

@@ -43,6 +43,7 @@
 #include <iostream>
 #include <iterator>
 #include <vector>
+#include <numeric>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"

gtsam/inference/Ordering.h

@@ -30,7 +30,7 @@
 
 namespace gtsam {
 
-class Ordering: public KeyVector {
+class GTSAM_EXPORT Ordering: public KeyVector {
 protected:
   typedef KeyVector Base;
 
@@ -44,8 +44,7 @@ public:
   typedef Ordering This; ///< Typedef to this class
   typedef std::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
 
-  /// Create an empty ordering
+  /// Create an empty ordering  
-  GTSAM_EXPORT
   Ordering() {
   }
 
@@ -99,7 +98,7 @@ public:
   }
 
   /// Compute a fill-reducing ordering using COLAMD from a VariableIndex.
-  static GTSAM_EXPORT Ordering Colamd(const VariableIndex& variableIndex);
+  static Ordering Colamd(const VariableIndex& variableIndex);
 
   /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
   /// for note on performance).  This internally builds a VariableIndex so if you already have a
@@ -124,7 +123,7 @@ public:
   /// variables in \c constrainLast will be ordered in the same order specified in the KeyVector
   /// \c constrainLast.   If \c forceOrder is false, the variables in \c constrainLast will be
   /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
-  static GTSAM_EXPORT Ordering ColamdConstrainedLast(
+  static Ordering ColamdConstrainedLast(
       const VariableIndex& variableIndex, const KeyVector& constrainLast,
       bool forceOrder = false);
 
@@ -152,7 +151,7 @@ public:
   /// KeyVector \c constrainFirst.   If \c forceOrder is false, the variables in \c
   /// constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to
   /// reduce fill-in as well.
-  static GTSAM_EXPORT Ordering ColamdConstrainedFirst(
+  static Ordering ColamdConstrainedFirst(
       const VariableIndex& variableIndex,
       const KeyVector& constrainFirst, bool forceOrder = false);
 
@@ -181,7 +180,7 @@ public:
   /// appear in \c groups in arbitrary order.  Any variables not present in \c groups will be
   /// assigned to group 0.  This function simply fills the \c cmember argument to CCOLAMD with the
   /// supplied indices, see the CCOLAMD documentation for more information.
-  static GTSAM_EXPORT Ordering ColamdConstrained(
+  static Ordering ColamdConstrained(
       const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
 
   /// Return a natural Ordering. Typically used by iterative solvers
@@ -195,11 +194,11 @@ public:
 
   /// METIS Formatting function
   template<class FACTOR_GRAPH>
-  static GTSAM_EXPORT void CSRFormat(std::vector<int>& xadj,
+  static void CSRFormat(std::vector<int>& xadj,
       std::vector<int>& adj, const FACTOR_GRAPH& graph);
 
   /// Compute an ordering determined by METIS from a VariableIndex
-  static GTSAM_EXPORT Ordering Metis(const MetisIndex& met);
+  static Ordering Metis(const MetisIndex& met);
 
   template<class FACTOR_GRAPH>
   static Ordering Metis(const FACTOR_GRAPH& graph) {
@@ -241,18 +240,16 @@ public:
   /// @name Testable
   /// @{
 
-  GTSAM_EXPORT
   void print(const std::string& str = "", const KeyFormatter& keyFormatter =
       DefaultKeyFormatter) const;
 
-  GTSAM_EXPORT
   bool equals(const Ordering& other, double tol = 1e-9) const;
 
   /// @}
 
 private:
   /// Internal COLAMD function
-  static GTSAM_EXPORT Ordering ColamdConstrained(
+  static Ordering ColamdConstrained(
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

gtsam_unstable/linear/LPInitSolver.h

@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;
 

gtsam_unstable/linear/QPSParser.h

@@ -18,12 +18,13 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/QP.h>
 #include <fstream>
 
 namespace gtsam {
 
-class QPSParser {
+class GTSAM_UNSTABLE_EXPORT QPSParser {
 
 private:
   std::string fileName_;