basis module tests pass

gtsam/basis/Basis.h

@@ -92,7 +92,7 @@ Matrix kroneckerProductIdentity(const Weights& w) {
 
 /// CRTP Base class for function bases
 template <typename DERIVED>
-class GTSAM_EXPORT Basis {
+class Basis {
  public:
   /**
    * Calculate weights for all x in vector X.
@@ -497,11 +497,6 @@ class GTSAM_EXPORT Basis {
     }
   };
 
-  // Vector version for MATLAB :-(
-  static double Derivative(double x, const Vector& p,  //
-                           OptionalJacobian</*1xN*/ -1, -1> H = boost::none) {
-    return DerivativeFunctor(x)(p.transpose(), H);
-  }
 };
 
 }  // namespace gtsam

gtsam/basis/BasisFactors.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * @tparam BASIS The basis class to use e.g. Chebyshev2
  */
 template <class BASIS>
-class GTSAM_EXPORT EvaluationFactor : public FunctorizedFactor<double, Vector> {
+class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  private:
   using Base = FunctorizedFactor<double, Vector>;
 
@@ -85,7 +85,7 @@ class GTSAM_EXPORT EvaluationFactor : public FunctorizedFactor<double, Vector> {
  * @param M: Size of the evaluated state vector.
  */
 template <class BASIS, int M>
-class GTSAM_EXPORT VectorEvaluationFactor
+class VectorEvaluationFactor
     : public FunctorizedFactor<Vector, ParameterMatrix<M>> {
  private:
   using Base = FunctorizedFactor<Vector, ParameterMatrix<M>>;
@@ -148,7 +148,7 @@ class GTSAM_EXPORT VectorEvaluationFactor
  *  where N is the degree and i is the component index.
  */
 template <class BASIS, size_t P>
-class GTSAM_EXPORT VectorComponentFactor
+class VectorComponentFactor
     : public FunctorizedFactor<double, ParameterMatrix<P>> {
  private:
   using Base = FunctorizedFactor<double, ParameterMatrix<P>>;
@@ -217,7 +217,7 @@ class GTSAM_EXPORT VectorComponentFactor
  * where `x` is the value (e.g. timestep) at which the rotation was evaluated.
  */
 template <class BASIS, typename T>
-class GTSAM_EXPORT ManifoldEvaluationFactor
+class ManifoldEvaluationFactor
     : public FunctorizedFactor<T, ParameterMatrix<traits<T>::dimension>> {
  private:
   using Base = FunctorizedFactor<T, ParameterMatrix<traits<T>::dimension>>;
@@ -269,7 +269,7 @@ class GTSAM_EXPORT ManifoldEvaluationFactor
  * @param BASIS: The basis class to use e.g. Chebyshev2
  */
 template <class BASIS>
-class GTSAM_EXPORT DerivativeFactor
+class DerivativeFactor
     : public FunctorizedFactor<double, typename BASIS::Parameters> {
  private:
   using Base = FunctorizedFactor<double, typename BASIS::Parameters>;
@@ -318,7 +318,7 @@ class GTSAM_EXPORT DerivativeFactor
  * @param M: Size of the evaluated state vector derivative.
  */
 template <class BASIS, int M>
-class GTSAM_EXPORT VectorDerivativeFactor
+class VectorDerivativeFactor
     : public FunctorizedFactor<Vector, ParameterMatrix<M>> {
  private:
   using Base = FunctorizedFactor<Vector, ParameterMatrix<M>>;
@@ -371,7 +371,7 @@ class GTSAM_EXPORT VectorDerivativeFactor
  * @param P: Size of the control component derivative.
  */
 template <class BASIS, int P>
-class GTSAM_EXPORT ComponentDerivativeFactor
+class ComponentDerivativeFactor
     : public FunctorizedFactor<double, ParameterMatrix<P>> {
  private:
   using Base = FunctorizedFactor<double, ParameterMatrix<P>>;

gtsam/basis/Chebyshev.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * These are typically denoted with the symbol T_n, where n is the degree.
  * The parameter N is the number of coefficients, i.e., N = n+1.
  */
-struct Chebyshev1Basis : Basis<Chebyshev1Basis> {
+struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
   using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
   Parameters parameters_;
@@ -79,7 +79,7 @@ struct Chebyshev1Basis : Basis<Chebyshev1Basis> {
  * functions. In this sense, they are like the sines and cosines of the Fourier
  * basis.
  */
-struct Chebyshev2Basis : Basis<Chebyshev2Basis> {
+struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
   using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
   /**

gtsam/basis/Fourier.h

@@ -24,7 +24,7 @@
 namespace gtsam {
 
 /// Fourier basis
-class GTSAM_EXPORT FourierBasis : public Basis<FourierBasis> {
+class FourierBasis : public Basis<FourierBasis> {
  public:
   using Parameters = Eigen::Matrix<double, /*Nx1*/ -1, 1>;
   using DiffMatrix = Eigen::Matrix<double, /*NxN*/ -1, -1>;

gtsam/basis/basis.i

@@ -44,9 +44,6 @@ class Chebyshev2 {
   static Matrix DerivativeWeights(size_t N, double x, double a, double b);
   static Matrix IntegrationWeights(size_t N, double a, double b);
   static Matrix DifferentiationMatrix(size_t N, double a, double b);
-
-  // TODO Needs OptionalJacobian
-  // static double Derivative(double x, Vector f);
 };
 
 #include <gtsam/basis/ParameterMatrix.h>