Merge pull request #470 from borglab/fix/windows-build-error

Fix FrobeniusBetweenFactor declaration

.travis.yml

@@ -90,11 +90,11 @@ jobs:
     env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
     script: bash .travis.sh -b
 # on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
-  - stage: special
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
-    script: bash .travis.sh -t
+  # - stage: special
+  #   os: linux
+  #   compiler: gcc
+  #   env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
+  #   script: bash .travis.sh -t
 # -------- STAGE 2: TESTS -----------
 # on Mac, GCC
   - stage: test

gtsam/slam/FrobeniusFactor.h

@@ -92,7 +92,7 @@ class FrobeniusFactor : public NoiseModelFactor2<Rot, Rot> {
  * and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.
  */
 template <class Rot>
-GTSAM_EXPORT class FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
+class GTSAM_EXPORT FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
   Rot R12_;  ///< measured rotation between R1 and R2
   Eigen::Matrix<double, Rot::dimension, Rot::dimension>
       R2hat_H_R1_;  ///< fixed derivative of R2hat wrpt R1