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Merge pull request #915 from borglab/fix/gcc-Wpedantic-warnings 

Fix warnings raised by GCC -Wpedactic
release/4.3a0
Jose Luis Blanco-Claraco 2021-11-10 12:24:07 +01:00 committed by GitHub
parent fc16834da7 582f6914cd
commit 744db328e7
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
30 changed files with 185 additions and 185 deletions
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2
gtsam/base/Lie.h
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@ -370,4 +370,4 @@ public:
* the gtsam namespace to be more easily enforced as testable * the gtsam namespace to be more easily enforced as testable
*/ */
#define GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup<T>; #define GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup<T>;
#define GTSAM_CONCEPT_LIE_TYPE(T) typedef gtsam::IsLieGroup<T> _gtsam_IsLieGroup_##T; #define GTSAM_CONCEPT_LIE_TYPE(T) using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>;

2
gtsam/base/Manifold.h
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@ -178,4 +178,4 @@ struct FixedDimension {
// * the gtsam namespace to be more easily enforced as testable // * the gtsam namespace to be more easily enforced as testable
// */ // */
#define GTSAM_CONCEPT_MANIFOLD_INST(T) template class gtsam::IsManifold<T>; #define GTSAM_CONCEPT_MANIFOLD_INST(T) template class gtsam::IsManifold<T>;
#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) typedef gtsam::IsManifold<T> _gtsam_IsManifold_##T; #define GTSAM_CONCEPT_MANIFOLD_TYPE(T) using _gtsam_IsManifold_##T = gtsam::IsManifold<T>;

38
gtsam/base/Matrix.h
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@ -46,28 +46,28 @@ typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> M
// Create handy typedefs and constants for square-size matrices // Create handy typedefs and constants for square-size matrices
// MatrixMN, MatrixN = MatrixNN, I_NxN, and Z_NxN, for M,N=1..9 // MatrixMN, MatrixN = MatrixNN, I_NxN, and Z_NxN, for M,N=1..9
#define GTSAM_MAKE_MATRIX_DEFS(N) \ #define GTSAM_MAKE_MATRIX_DEFS(N) \
typedef Eigen::Matrix<double, N, N> Matrix##N; \ using Matrix##N = Eigen::Matrix<double, N, N>; \
typedef Eigen::Matrix<double, 1, N> Matrix1##N; \ using Matrix1##N = Eigen::Matrix<double, 1, N>; \
typedef Eigen::Matrix<double, 2, N> Matrix2##N; \ using Matrix2##N = Eigen::Matrix<double, 2, N>; \
typedef Eigen::Matrix<double, 3, N> Matrix3##N; \ using Matrix3##N = Eigen::Matrix<double, 3, N>; \
typedef Eigen::Matrix<double, 4, N> Matrix4##N; \ using Matrix4##N = Eigen::Matrix<double, 4, N>; \
typedef Eigen::Matrix<double, 5, N> Matrix5##N; \ using Matrix5##N = Eigen::Matrix<double, 5, N>; \
typedef Eigen::Matrix<double, 6, N> Matrix6##N; \ using Matrix6##N = Eigen::Matrix<double, 6, N>; \
typedef Eigen::Matrix<double, 7, N> Matrix7##N; \ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
typedef Eigen::Matrix<double, 8, N> Matrix8##N; \ using Matrix8##N = Eigen::Matrix<double, 8, N>; \
typedef Eigen::Matrix<double, 9, N> Matrix9##N; \ using Matrix9##N = Eigen::Matrix<double, 9, N>; \
static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \ static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero(); static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
GTSAM_MAKE_MATRIX_DEFS(1); GTSAM_MAKE_MATRIX_DEFS(1)
GTSAM_MAKE_MATRIX_DEFS(2); GTSAM_MAKE_MATRIX_DEFS(2)
GTSAM_MAKE_MATRIX_DEFS(3); GTSAM_MAKE_MATRIX_DEFS(3)
GTSAM_MAKE_MATRIX_DEFS(4); GTSAM_MAKE_MATRIX_DEFS(4)
GTSAM_MAKE_MATRIX_DEFS(5); GTSAM_MAKE_MATRIX_DEFS(5)
GTSAM_MAKE_MATRIX_DEFS(6); GTSAM_MAKE_MATRIX_DEFS(6)
GTSAM_MAKE_MATRIX_DEFS(7); GTSAM_MAKE_MATRIX_DEFS(7)
GTSAM_MAKE_MATRIX_DEFS(8); GTSAM_MAKE_MATRIX_DEFS(8)
GTSAM_MAKE_MATRIX_DEFS(9); GTSAM_MAKE_MATRIX_DEFS(9)
// Matrix expressions for accessing parts of matrices // Matrix expressions for accessing parts of matrices
typedef Eigen::Block<Matrix> SubMatrix; typedef Eigen::Block<Matrix> SubMatrix;

2
gtsam/base/Testable.h
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@ -173,4 +173,4 @@ namespace gtsam {
* @deprecated please use BOOST_CONCEPT_ASSERT and * @deprecated please use BOOST_CONCEPT_ASSERT and
*/ */
#define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable<T>; #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable<T>;
#define GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef gtsam::IsTestable<T> _gtsam_Testable_##T; #define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable<T>;

20
gtsam/base/Vector.h
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@ -48,18 +48,18 @@ static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zer
// Create handy typedefs and constants for vectors with N>3 // Create handy typedefs and constants for vectors with N>3
// VectorN and Z_Nx1, for N=1..9 // VectorN and Z_Nx1, for N=1..9
#define GTSAM_MAKE_VECTOR_DEFS(N) \ #define GTSAM_MAKE_VECTOR_DEFS(N) \
typedef Eigen::Matrix<double, N, 1> Vector##N; \ using Vector##N = Eigen::Matrix<double, N, 1>; \
static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero(); static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
GTSAM_MAKE_VECTOR_DEFS(4); GTSAM_MAKE_VECTOR_DEFS(4)
GTSAM_MAKE_VECTOR_DEFS(5); GTSAM_MAKE_VECTOR_DEFS(5)
GTSAM_MAKE_VECTOR_DEFS(6); GTSAM_MAKE_VECTOR_DEFS(6)
GTSAM_MAKE_VECTOR_DEFS(7); GTSAM_MAKE_VECTOR_DEFS(7)
GTSAM_MAKE_VECTOR_DEFS(8); GTSAM_MAKE_VECTOR_DEFS(8)
GTSAM_MAKE_VECTOR_DEFS(9); GTSAM_MAKE_VECTOR_DEFS(9)
GTSAM_MAKE_VECTOR_DEFS(10); GTSAM_MAKE_VECTOR_DEFS(10)
GTSAM_MAKE_VECTOR_DEFS(11); GTSAM_MAKE_VECTOR_DEFS(11)
GTSAM_MAKE_VECTOR_DEFS(12); GTSAM_MAKE_VECTOR_DEFS(12)
typedef Eigen::VectorBlock<Vector> SubVector; typedef Eigen::VectorBlock<Vector> SubVector;
typedef Eigen::VectorBlock<const Vector> ConstSubVector; typedef Eigen::VectorBlock<const Vector> ConstSubVector;

2
gtsam/base/chartTesting.h
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@ -32,7 +32,7 @@ void testDefaultChart(TestResult& result_,
const std::string& name_, const std::string& name_,
const T& value) { const T& value) {
GTSAM_CONCEPT_TESTABLE_TYPE(T); GTSAM_CONCEPT_TESTABLE_TYPE(T)
typedef typename gtsam::DefaultChart<T> Chart; typedef typename gtsam::DefaultChart<T> Chart;
typedef typename Chart::vector Vector; typedef typename Chart::vector Vector;

2
gtsam/geometry/PinholePose.h
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@ -35,7 +35,7 @@ class GTSAM_EXPORT PinholeBaseK: public PinholeBase {
private: private:
GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION)
// Get dimensions of calibration type at compile time // Get dimensions of calibration type at compile time
static const int DimK = FixedDimension<CALIBRATION>::value; static const int DimK = FixedDimension<CALIBRATION>::value;

2
gtsam/geometry/Pose2.cpp
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@ -28,7 +28,7 @@ using namespace std;
namespace gtsam { namespace gtsam {
/** instantiate concept checks */ /** instantiate concept checks */
GTSAM_CONCEPT_POSE_INST(Pose2); GTSAM_CONCEPT_POSE_INST(Pose2)
static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.)); static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.));

2
gtsam/geometry/Pose3.cpp
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@ -30,7 +30,7 @@ using std::vector;
using Point3Pairs = vector<Point3Pair>; using Point3Pairs = vector<Point3Pair>;
/** instantiate concept checks */ /** instantiate concept checks */
GTSAM_CONCEPT_POSE_INST(Pose3); GTSAM_CONCEPT_POSE_INST(Pose3)
/* ************************************************************************* */ /* ************************************************************************* */
Pose3::Pose3(const Pose2& pose2) : Pose3::Pose3(const Pose2& pose2) :

2
gtsam/geometry/concepts.h
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@ -72,5 +72,5 @@ private:
/** Pose Concept macros */ /** Pose Concept macros */
#define GTSAM_CONCEPT_POSE_INST(T) template class gtsam::PoseConcept<T>; #define GTSAM_CONCEPT_POSE_INST(T) template class gtsam::PoseConcept<T>;
#define GTSAM_CONCEPT_POSE_TYPE(T) typedef gtsam::PoseConcept<T> _gtsam_PoseConcept##T; #define GTSAM_CONCEPT_POSE_TYPE(T) using _gtsam_PoseConcept##T = gtsam::PoseConcept<T>;

2
gtsam/inference/ClusterTree.h
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@ -110,7 +110,7 @@ class ClusterTree {
typedef sharedCluster sharedNode; typedef sharedCluster sharedNode;
/** concept check */ /** concept check */
GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); GTSAM_CONCEPT_TESTABLE_TYPE(FactorType)
protected: protected:
FastVector<sharedNode> roots_; FastVector<sharedNode> roots_;

2
gtsam/inference/EliminationTree.h
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@ -81,7 +81,7 @@ namespace gtsam {
protected: protected:
/** concept check */ /** concept check */
GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); GTSAM_CONCEPT_TESTABLE_TYPE(FactorType)
FastVector<sharedNode> roots_; FastVector<sharedNode> roots_;
FastVector<sharedFactor> remainingFactors_; FastVector<sharedFactor> remainingFactors_;

20
gtsam/linear/tests/testSerializationLinear.cpp
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@ -39,14 +39,14 @@ using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */ /* ************************************************************************* */
// Export Noisemodels // Export Noisemodels
// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
/* ************************************************************************* */ /* ************************************************************************* */
// example noise models // example noise models
@ -129,9 +129,9 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
/* Create GUIDs for factors */ /* Create GUIDs for factors */
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional"); BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional")
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, linear_factors) { TEST (Serialization, linear_factors) {

2
gtsam/navigation/CombinedImuFactor.cpp
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@ -257,5 +257,5 @@ std::ostream& operator<<(std::ostream& os, const CombinedImuFactor& f) {
/// namespace gtsam /// namespace gtsam
/// Boost serialization export definition for derived class /// Boost serialization export definition for derived class
BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams); BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams)

2
gtsam/navigation/CombinedImuFactor.h
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@ -353,4 +353,4 @@ struct traits<CombinedImuFactor> : public Testable<CombinedImuFactor> {};
} // namespace gtsam } // namespace gtsam
/// Add Boost serialization export key (declaration) for derived class /// Add Boost serialization export key (declaration) for derived class
BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams); BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams)

2
gtsam/navigation/tests/testAttitudeFactor.cpp
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@ -66,7 +66,7 @@ TEST( Rot3AttitudeFactor, Constructor ) {
/* ************************************************************************* */ /* ************************************************************************* */
// Export Noisemodels // Export Noisemodels
// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic); BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic)
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Rot3AttitudeFactor, Serialization) { TEST(Rot3AttitudeFactor, Serialization) {

14
gtsam/navigation/tests/testImuFactorSerialization.cpp
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@ -31,16 +31,16 @@ using namespace gtsam;
using namespace gtsam::serializationTestHelpers; using namespace gtsam::serializationTestHelpers;
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained,
"gtsam_noiseModel_Constrained"); "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal,
"gtsam_noiseModel_Diagonal"); "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian,
"gtsam_noiseModel_Gaussian"); "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,
"gtsam_noiseModel_Isotropic"); "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
template <typename P> template <typename P>
P getPreintegratedMeasurements() { P getPreintegratedMeasurements() {

2
gtsam/nonlinear/CustomFactor.h
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@ -101,4 +101,4 @@ private:
} }
}; };
}; }

2
gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
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@ -149,7 +149,7 @@ boost::tuple<V, int> nonlinearConjugateGradient(const S &system,
const V &initial, const NonlinearOptimizerParams &params, const V &initial, const NonlinearOptimizerParams &params,
const bool singleIteration, const bool gradientDescent = false) { const bool singleIteration, const bool gradientDescent = false) {
// GTSAM_CONCEPT_MANIFOLD_TYPE(V); // GTSAM_CONCEPT_MANIFOLD_TYPE(V)
size_t iteration = 0; size_t iteration = 0;

1
gtsam/nonlinear/NonlinearEquality.h
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@ -219,7 +219,6 @@ protected:
X value_; /// fixed value for variable X value_; /// fixed value for variable
GTSAM_CONCEPT_MANIFOLD_TYPE(X) GTSAM_CONCEPT_MANIFOLD_TYPE(X)
GTSAM_CONCEPT_TESTABLE_TYPE(X) GTSAM_CONCEPT_TESTABLE_TYPE(X)
public: public:

48
gtsam/nonlinear/tests/testSerializationNonlinear.cpp
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@ -35,37 +35,37 @@ using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */ /* ************************************************************************* */
// Create GUIDs for Noisemodels // Create GUIDs for Noisemodels
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
/* ************************************************************************* */ /* ************************************************************************* */
// Create GUIDs for factors // Create GUIDs for factors
BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor<gtsam::Pose3>, "gtsam::PriorFactor<gtsam::Pose3>"); BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor<gtsam::Pose3>, "gtsam::PriorFactor<gtsam::Pose3>")
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional"); BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional")
/* ************************************************************************* */ /* ************************************************************************* */
// Export all classes derived from Value // Export all classes derived from Value
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2); GTSAM_VALUE_EXPORT(gtsam::Cal3_S2)
GTSAM_VALUE_EXPORT(gtsam::Cal3Bundler); GTSAM_VALUE_EXPORT(gtsam::Cal3Bundler)
GTSAM_VALUE_EXPORT(gtsam::Point3); GTSAM_VALUE_EXPORT(gtsam::Point3)
GTSAM_VALUE_EXPORT(gtsam::Pose3); GTSAM_VALUE_EXPORT(gtsam::Pose3)
GTSAM_VALUE_EXPORT(gtsam::Rot3); GTSAM_VALUE_EXPORT(gtsam::Rot3)
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3_S2>); GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3DS2>); GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3Bundler>); GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
namespace detail { namespace detail {
template<class T> struct pack { template<class T> struct pack {

6
gtsam/slam/GeneralSFMFactor.h
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@ -59,8 +59,8 @@ namespace gtsam {
template<class CAMERA, class LANDMARK> template<class CAMERA, class LANDMARK>
class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> { class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA); GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA)
GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK); GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK)
static const int DimC = FixedDimension<CAMERA>::value; static const int DimC = FixedDimension<CAMERA>::value;
static const int DimL = FixedDimension<LANDMARK>::value; static const int DimL = FixedDimension<LANDMARK>::value;
@ -202,7 +202,7 @@ struct traits<GeneralSFMFactor<CAMERA, LANDMARK> > : Testable<
template<class CALIBRATION> template<class CALIBRATION>
class GeneralSFMFactor2: public NoiseModelFactor3<Pose3, Point3, CALIBRATION> { class GeneralSFMFactor2: public NoiseModelFactor3<Pose3, Point3, CALIBRATION> {
GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION)
static const int DimK = FixedDimension<CALIBRATION>::value; static const int DimK = FixedDimension<CALIBRATION>::value;
protected: protected:

14
gtsam/slam/tests/testSmartFactorBase.cpp
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@ -127,13 +127,13 @@ TEST(SmartFactorBase, Stereo) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
TEST(SmartFactorBase, serialize) { TEST(SmartFactorBase, serialize) {
using namespace gtsam::serializationTestHelpers; using namespace gtsam::serializationTestHelpers;

14
gtsam/slam/tests/testSmartProjectionFactor.cpp
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@ -811,13 +811,13 @@ TEST(SmartProjectionFactor, implicitJacobianFactor ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
TEST(SmartProjectionFactor, serialize) { TEST(SmartProjectionFactor, serialize) {
using namespace vanilla; using namespace vanilla;

14
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
View File

@ -1333,13 +1333,13 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
TEST(SmartProjectionPoseFactor, serialize) { TEST(SmartProjectionPoseFactor, serialize) {
using namespace vanillaPose; using namespace vanillaPose;

2
gtsam_unstable/linear/tests/testQPSolver.cpp
View File

@ -226,7 +226,7 @@ pair<QP, QP> testParser(QPSParser parser) {
expected.inequalities.add(X1, -I_1x1, 0, 2); // x >= 0 expected.inequalities.add(X1, -I_1x1, 0, 2); // x >= 0
expected.inequalities.add(X2, -I_1x1, 0, 3); // y > = 0 expected.inequalities.add(X2, -I_1x1, 0, 3); // y > = 0
return {expected, exampleqp}; return {expected, exampleqp};
}; }
TEST(QPSolver, ParserSyntaticTest) { TEST(QPSolver, ParserSyntaticTest) {
auto result = testParser(QPSParser("QPExample.QPS")); auto result = testParser(QPSParser("QPExample.QPS"));

3
gtsam_unstable/slam/BetweenFactorEM.h
View File

@ -56,7 +56,8 @@ private:
bool flag_bump_up_near_zero_probs_; bool flag_bump_up_near_zero_probs_;
/** concept check by type */ /** concept check by type */
GTSAM_CONCEPT_LIE_TYPE(T)GTSAM_CONCEPT_TESTABLE_TYPE(T) GTSAM_CONCEPT_LIE_TYPE(T)
GTSAM_CONCEPT_TESTABLE_TYPE(T)
public: public:

2
tests/testExpressionFactor.cpp
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@ -606,7 +606,7 @@ Vector3 f(const Point2& a, const Vector3& b, OptionalJacobian<3, 2> H1,
if (H1) *H1 << b.y(), b.z(), b.x(), 0, 0, 0; if (H1) *H1 << b.y(), b.z(), b.x(), 0, 0, 0;
if (H2) *H2 = A; if (H2) *H2 = A;
return A * b; return A * b;
}; }
} }
TEST(ExpressionFactor, MultiplyWithInverseFunction) { TEST(ExpressionFactor, MultiplyWithInverseFunction) {

142
tests/testSerializationSLAM.cpp
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@ -114,94 +114,94 @@ using symbol_shorthand::L;
/* Create GUIDs for Noisemodels */ /* Create GUIDs for Noisemodels */
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber")
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
/* Create GUIDs for geometry */ /* Create GUIDs for geometry */
/* ************************************************************************* */ /* ************************************************************************* */
GTSAM_VALUE_EXPORT(gtsam::Point2); GTSAM_VALUE_EXPORT(gtsam::Point2)
GTSAM_VALUE_EXPORT(gtsam::StereoPoint2); GTSAM_VALUE_EXPORT(gtsam::StereoPoint2)
GTSAM_VALUE_EXPORT(gtsam::Point3); GTSAM_VALUE_EXPORT(gtsam::Point3)
GTSAM_VALUE_EXPORT(gtsam::Rot2); GTSAM_VALUE_EXPORT(gtsam::Rot2)
GTSAM_VALUE_EXPORT(gtsam::Rot3); GTSAM_VALUE_EXPORT(gtsam::Rot3)
GTSAM_VALUE_EXPORT(gtsam::Pose2); GTSAM_VALUE_EXPORT(gtsam::Pose2)
GTSAM_VALUE_EXPORT(gtsam::Pose3); GTSAM_VALUE_EXPORT(gtsam::Pose3)
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2); GTSAM_VALUE_EXPORT(gtsam::Cal3_S2)
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2); GTSAM_VALUE_EXPORT(gtsam::Cal3DS2)
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo); GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo)
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera); GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera)
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2); GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2)
GTSAM_VALUE_EXPORT(gtsam::StereoCamera); GTSAM_VALUE_EXPORT(gtsam::StereoCamera)
/* Create GUIDs for factors */ /* Create GUIDs for factors */
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2"); BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2")
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2"); BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2")
BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3"); BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3")
BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2"); BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2")
BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3"); BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3")
BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2"); BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2")
BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3"); BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3")
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2")
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2")
BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera"); BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera")
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera"); BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera")
BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2"); BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2")
BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3"); BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3")
BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2"); BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2")
BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3"); BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3")
BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2"); BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2")
BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3"); BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera"); BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera")
BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D"); BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D")
BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D"); BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D")
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2")
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3"); BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3")
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint")
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point"); BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point")
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera"); BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera")
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2"); BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2")
BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D")
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2")
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2")
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2")
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2")
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2")
BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D"); BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D")
/* ************************************************************************* */ /* ************************************************************************* */

2
tests/testSubgraphPreconditioner.cpp
View File

@ -200,7 +200,7 @@ TEST(SubgraphPreconditioner, system) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "JacobianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "JacobianFactor")
// Read from XML file // Read from XML file
static GaussianFactorGraph read(const string& name) { static GaussianFactorGraph read(const string& name) {