Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.

2011-12-20 23:25:43 +00:00 · 2011-12-20 23:25:43 +00:00 · 7c87a4f58d
parent d76176c544
commit 7c87a4f58d
35 changed files with 64 additions and 79 deletions
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@ -23,7 +23,7 @@
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 using namespace gtsam;

--- a/examples/PlanarSLAMSelfContained_advanced.cpp
+++ b/examples/PlanarSLAMSelfContained_advanced.cpp
@ -35,8 +35,8 @@

 // implementations for structures - needed if self-contained, and these should be included last
 #include <gtsam/nonlinear/TupleValues.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>

--- a/examples/Pose2SLAMExample_advanced.cpp
+++ b/examples/Pose2SLAMExample_advanced.cpp
@ -22,7 +22,7 @@

 // pull in the Pose2 SLAM domain with all typedefs and helper functions defined
 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Matrix.h>
--- a/examples/Pose2SLAMExample_easy.cpp
+++ b/examples/Pose2SLAMExample_easy.cpp
@ -24,7 +24,7 @@

 // pull in the Pose2 SLAM domain with all typedefs and helper functions defined
 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 using namespace std;
 using namespace gtsam;
--- a/examples/Pose2SLAMwSPCG_advanced.cpp
+++ b/examples/Pose2SLAMwSPCG_advanced.cpp
@ -19,8 +19,8 @@
 #include <boost/shared_ptr.hpp>

 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/linear/SubgraphSolver-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/linear/SubgraphSolver.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>

 using namespace std;
 using namespace gtsam;
--- a/examples/Pose2SLAMwSPCG_easy.cpp
+++ b/examples/Pose2SLAMwSPCG_easy.cpp
@ -19,7 +19,7 @@
 #include <boost/shared_ptr.hpp>

 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>


 using namespace std;
--- a/examples/SimpleRotation.cpp
+++ b/examples/SimpleRotation.cpp
@ -24,8 +24,8 @@
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/nonlinear/Key.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 /*
 * TODO: make factors independent of RotValues
--- a/examples/vSLAMexample/vISAMexample.cpp
+++ b/examples/vSLAMexample/vISAMexample.cpp
@ -23,8 +23,8 @@ using namespace boost;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY

-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/inference/graph-inl.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/slam/PriorFactor.h>
--- a/examples/vSLAMexample/vSFMexample.cpp
+++ b/examples/vSLAMexample/vSFMexample.cpp
@ -22,8 +22,8 @@ using namespace boost;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY

-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/inference/graph-inl.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/slam/PriorFactor.h>
--- a/gtsam/linear/SubgraphSolver-inl.h
+++ b/gtsam/linear/SubgraphSolver-inl.h
@ -13,9 +13,8 @@

 #include <boost/foreach.hpp>

-#include <gtsam/linear/SubgraphSolver.h>
 #include <gtsam/linear/iterative-inl.h>
-#include <gtsam/inference/EliminationTree-inl.h>
+#include <gtsam/inference/EliminationTree.h>

 using namespace std;

--- a/gtsam/linear/SubgraphSolver.h
+++ b/gtsam/linear/SubgraphSolver.h
@ -95,4 +95,6 @@ private:
 	SubgraphSolver():IterativeSolver(){}
 };

-} // nsamespace gtsam
+} // namespace gtsam
+
+#include <gtsam/linear/SubgraphSolver-inl.h>
--- a/gtsam/nonlinear/DoglegOptimizerImpl.h
+++ b/gtsam/nonlinear/DoglegOptimizerImpl.h
@ -7,7 +7,7 @@

 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianISAM.h> // To get optimize(BayesTree<GaussianConditional>)
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Ordering.h>

 namespace gtsam {
--- a/gtsam/nonlinear/ExtendedKalmanFilter.h
+++ b/gtsam/nonlinear/ExtendedKalmanFilter.h
@ -19,7 +19,7 @@
 // \callgraph
 #pragma once

-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>

 namespace gtsam {
--- a/gtsam/nonlinear/NonlinearFactorGraph-inl.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph-inl.h
@ -19,16 +19,11 @@

 #pragma once

-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/inference/FactorGraph-inl.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/inference.h>
 #include <boost/foreach.hpp>
 #include <cmath>

-#define INSTANTIATE_NONLINEAR_FACTOR_GRAPH(C) \
-  INSTANTIATE_FACTOR_GRAPH(NonlinearFactor<C>); \
-  template class NonlinearFactorGraph<C>;
-
 using namespace std;

 namespace gtsam {
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@ -100,3 +100,5 @@ namespace gtsam {
 	};

 } // namespace
+
+#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
--- a/gtsam/nonlinear/NonlinearOptimization-inl.h
+++ b/gtsam/nonlinear/NonlinearOptimization-inl.h
@ -20,10 +20,9 @@

 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
-#include <gtsam/nonlinear/NonlinearOptimization.h>

-#include <gtsam/linear/SubgraphSolver-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/linear/SubgraphSolver.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>

 using namespace std;

--- a/gtsam/nonlinear/NonlinearOptimization.h
+++ b/gtsam/nonlinear/NonlinearOptimization.h
@ -50,3 +50,4 @@ namespace gtsam {

 }

+#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
--- a/gtsam/nonlinear/NonlinearOptimizer-inl.h
+++ b/gtsam/nonlinear/NonlinearOptimizer-inl.h
@ -23,12 +23,8 @@
 #include <iostream>
 #include <boost/tuple/tuple.hpp>
 #include <gtsam/base/cholesky.h>
-#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/nonlinear/DoglegOptimizerImpl.h>

-#define INSTANTIATE_NONLINEAR_OPTIMIZER(G,C) \
-  template class NonlinearOptimizer<G,C>;
-
 using namespace std;

 namespace gtsam {
--- a/gtsam/nonlinear/NonlinearOptimizer.h
+++ b/gtsam/nonlinear/NonlinearOptimizer.h
@ -419,3 +419,5 @@ bool check_convergence (
 		double currentError, double newError);

 } // gtsam
+
+#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
--- a/gtsam/slam/planarSLAM.cpp
+++ b/gtsam/slam/planarSLAM.cpp
@ -16,16 +16,13 @@
 **/

 #include <gtsam/slam/planarSLAM.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 // Use planarSLAM namespace for specific SLAM instance
 namespace gtsam {

-	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(planarSLAM::Values)
-	INSTANTIATE_NONLINEAR_OPTIMIZER(planarSLAM::Graph, planarSLAM::Values)
-
 	namespace planarSLAM {

 		Graph::Graph(const NonlinearFactorGraph<Values>& graph) :
--- a/gtsam/slam/pose2SLAM.cpp
+++ b/gtsam/slam/pose2SLAM.cpp
@ -16,14 +16,12 @@
 **/

 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>

 // Use pose2SLAM namespace for specific SLAM instance
 namespace gtsam {

-	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(pose2SLAM::Values)
-	INSTANTIATE_NONLINEAR_OPTIMIZER(pose2SLAM::Graph, pose2SLAM::Values)
 	template class NonlinearOptimizer<pose2SLAM::Graph, pose2SLAM::Values, GaussianFactorGraph, GaussianSequentialSolver>;

 	namespace pose2SLAM {
--- a/gtsam/slam/pose3SLAM.cpp
+++ b/gtsam/slam/pose3SLAM.cpp
@ -16,15 +16,12 @@
 **/

 #include <gtsam/slam/pose3SLAM.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>

 // Use pose3SLAM namespace for specific SLAM instance
 namespace gtsam {

-	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(pose3SLAM::Values)
-	INSTANTIATE_NONLINEAR_OPTIMIZER(pose3SLAM::Graph, pose3SLAM::Values)
-
 	namespace pose3SLAM {

 		/* ************************************************************************* */
--- a/gtsam/slam/smallExample.cpp
+++ b/gtsam/slam/smallExample.cpp
@ -32,9 +32,9 @@ using namespace std;
 #include <gtsam/slam/smallExample.h>

 // template definitions
-#include <gtsam/inference/FactorGraph-inl.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>

 namespace gtsam {
 namespace example {
--- a/gtsam/slam/tests/testGeneralSFMFactor.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp
@ -16,9 +16,9 @@ using namespace boost;
 #define GTSAM_MAGIC_KEY

 #include <gtsam/base/Testable.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/inference/graph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/inference/graph.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
--- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
@ -16,9 +16,9 @@ using namespace boost;
 #define GTSAM_MAGIC_KEY

 #include <gtsam/base/Testable.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/inference/graph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/inference/graph.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
--- a/gtsam/slam/tests/testPose2SLAM.cpp
+++ b/gtsam/slam/tests/testPose2SLAM.cpp
@ -18,8 +18,8 @@
 #define GTSAM_MAGIC_KEY

 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/inference/FactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/numericalDerivative.h>
 using namespace gtsam;

--- a/gtsam/slam/tests/testStereoFactor.cpp
+++ b/gtsam/slam/tests/testStereoFactor.cpp
@ -20,11 +20,11 @@

 #include <gtsam/geometry/StereoCamera.h>
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/StereoFactor.h>

-#include <gtsam/inference/graph-inl.h>
+#include <gtsam/inference/graph.h>
 #include <gtsam/slam/visualSLAM.h>

 using namespace std;
--- a/gtsam/slam/tests/testVSLAM.cpp
+++ b/gtsam/slam/tests/testVSLAM.cpp
@ -25,9 +25,9 @@ using namespace boost;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY

-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/inference/graph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/inference/graph.h>
 #include <gtsam/slam/visualSLAM.h>

 using namespace std;
--- a/gtsam/slam/visualSLAM.cpp
+++ b/gtsam/slam/visualSLAM.cpp
@ -16,12 +16,9 @@
 */

 #include <gtsam/slam/visualSLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>

 namespace gtsam {

-	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(visualSLAM::Values)
-	INSTANTIATE_NONLINEAR_OPTIMIZER(visualSLAM::Graph, visualSLAM::Values)
-
 }
--- a/tests/testBoundingConstraint.cpp
+++ b/tests/testBoundingConstraint.cpp
@ -18,8 +18,8 @@
 #include <CppUnitLite/TestHarness.h>

 #include <gtsam/slam/simulated2DConstraints.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>

 namespace iq2D = gtsam::simulated2D::inequality_constraints;
 using namespace std;
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@ -34,7 +34,7 @@
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/simulated2D.h>
 #include <gtsam/linear/GaussianFactor.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>

 using namespace std;
 using namespace gtsam;
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@ -33,8 +33,8 @@ using namespace boost::assign;
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/slam/smallExample.h>
-#include <gtsam/inference/FactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>

 using namespace gtsam;
 using namespace example;
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@ -36,9 +36,9 @@ using namespace boost;
 #include <gtsam/linear/NoiseModel.h>

 // template definitions
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 using namespace gtsam;

--- a/tests/testPose2SLAMwSPCG.cpp
+++ b/tests/testPose2SLAMwSPCG.cpp
@ -6,7 +6,7 @@
 #include <CppUnitLite/TestHarness.h>

 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>

 using namespace std;
 using namespace gtsam;
--- a/tests/testRot3QOptimization.cpp
+++ b/tests/testRot3QOptimization.cpp
@ -22,9 +22,9 @@
 #include <gtsam/base/lieProxies.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3Q.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/PriorFactor.h>