Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues

examples/PlanarSLAMSelfContained_advanced.cpp

@@ -34,7 +34,7 @@
 #include <gtsam/slam/BearingRangeFactor.h>
 
 // implementations for structures - needed if self-contained, and these should be included last
-#include <gtsam/nonlinear/TupleValues-inl.h>
+#include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>

examples/SimpleRotation.cpp

@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Rot2.h>
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/nonlinear/Key.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimization-inl.h>
 

examples/easyPoint2KalmanFilter.cpp

@@ -24,7 +24,7 @@
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 #include <gtsam/geometry/Point2.h>
 
 using namespace std;

examples/elaboratePoint2KalmanFilter.cpp

@@ -22,7 +22,7 @@
 
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/Key.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>

gtsam/nonlinear/TupleValues-inl.h

@@ -18,29 +18,6 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/Values-inl.h>
-#include <gtsam/nonlinear/TupleValues.h>
-
-// TupleValues instantiations for N = 1-6
-#define INSTANTIATE_TUPLE_VALUES1(Values1) \
-		template class TupleValues1<Values1>;
-
-#define INSTANTIATE_TUPLE_VALUES2(Values1, Values2) \
-		template class TupleValues2<Values1, Values2>;
-
-#define INSTANTIATE_TUPLE_VALUES3(Values1, Values2, Values3) \
-		template class TupleValues3<Values1, Values2, Values3>;
-
-#define INSTANTIATE_TUPLE_VALUES4(Values1, Values2, Values3, Values4) \
-		template class TupleValues4<Values1, Values2, Values3, Values4>;
-
-#define INSTANTIATE_TUPLE_VALUES5(Values1, Values2, Values3, Values4, Values5) \
-		template class TupleValues5<Values1, Values2, Values3, Values4, Values5>;
-
-#define INSTANTIATE_TUPLE_VALUES6(Values1, Values2, Values3, Values4, Values5, Values6) \
-		template class TupleValues6<Values1, Values2, Values3, Values4, Values5, Values6>;
-
-
 namespace gtsam {
 
 /* ************************************************************************* */

gtsam/nonlinear/TupleValues.h

@@ -520,3 +520,5 @@ namespace gtsam {
   };
 
 }
+
+#include <gtsam/nonlinear/TupleValues-inl.h>

gtsam/nonlinear/Values-inl.h

@@ -28,10 +28,6 @@
 #include <gtsam/base/Lie-inl.h>
 #include <gtsam/nonlinear/Ordering.h>
 
-#include <gtsam/nonlinear/Values.h>
-
-#define INSTANTIATE_VALUES(J) template class Values<J>;
-
 using namespace std;
 
 namespace gtsam {

gtsam/nonlinear/Values.h

@@ -229,5 +229,7 @@ namespace gtsam {
     }
   };
 
-}
+} // \namespace gtsam
+
+#include <gtsam/nonlinear/Values-inl.h>
 

gtsam/nonlinear/tests/testValues.cpp

@@ -22,7 +22,7 @@ using namespace boost::assign;
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/LieVector.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 
 using namespace gtsam;
 using namespace std;

gtsam/slam/Simulated3D.cpp

@@ -16,17 +16,9 @@
 **/
 
 #include <gtsam/slam/Simulated3D.h>
-#include <gtsam/nonlinear/Values-inl.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 
 namespace gtsam {
 
-INSTANTIATE_VALUES(simulated3D::PointKey)
-INSTANTIATE_VALUES(simulated3D::PoseKey)
-
-using namespace simulated3D;
-INSTANTIATE_TUPLE_VALUES2(PoseValues, PointValues)
-
 namespace simulated3D {
 
 Point3 prior (const Point3& x, boost::optional<Matrix&> H) {

gtsam/slam/planarSLAM.cpp

@@ -19,13 +19,10 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimization-inl.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 
 // Use planarSLAM namespace for specific SLAM instance
 namespace gtsam {
 
-	INSTANTIATE_VALUES(planarSLAM::PointKey)
-	INSTANTIATE_TUPLE_VALUES2(planarSLAM::PoseValues, planarSLAM::PointValues)
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(planarSLAM::Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(planarSLAM::Graph, planarSLAM::Values)
 

gtsam/slam/pose2SLAM.cpp

@@ -16,14 +16,12 @@
  **/
 
 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/Values-inl.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 
 // Use pose2SLAM namespace for specific SLAM instance
 namespace gtsam {
 
-	INSTANTIATE_VALUES(pose2SLAM::Key)
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(pose2SLAM::Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(pose2SLAM::Graph, pose2SLAM::Values)
 	template class NonlinearOptimizer<pose2SLAM::Graph, pose2SLAM::Values, GaussianFactorGraph, GaussianSequentialSolver>;

gtsam/slam/pose3SLAM.cpp

@@ -16,14 +16,12 @@
  **/
 
 #include <gtsam/slam/pose3SLAM.h>
-#include <gtsam/nonlinear/Values-inl.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 
 // Use pose3SLAM namespace for specific SLAM instance
 namespace gtsam {
 
-	INSTANTIATE_VALUES(pose3SLAM::Key)
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(pose3SLAM::Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(pose3SLAM::Graph, pose3SLAM::Values)
 

gtsam/slam/simulated2D.cpp

@@ -16,17 +16,9 @@
  */
 
 #include <gtsam/slam/simulated2D.h>
-#include <gtsam/nonlinear/Values-inl.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 
 namespace gtsam {
 
-	INSTANTIATE_VALUES(simulated2D::PoseKey)
-
-	using namespace simulated2D;
-
-	INSTANTIATE_TUPLE_VALUES2(PoseValues, PointValues)
-
 	namespace simulated2D {
 
 		static Matrix I = gtsam::eye(2);

gtsam/slam/simulated2DOriented.cpp

@@ -16,13 +16,9 @@
  */
 
 #include <gtsam/slam/simulated2DOriented.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 
 namespace gtsam {
 
-	using namespace simulated2DOriented;
-
-
 	namespace simulated2DOriented {
 
 		static Matrix I = gtsam::eye(3);

gtsam/slam/smallExample.cpp

@@ -34,7 +34,6 @@ using namespace std;
 // template definitions
 #include <gtsam/inference/FactorGraph-inl.h>
 #include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 
 namespace gtsam {

gtsam/slam/tests/testGeneralSFMFactor.cpp

@@ -20,7 +20,7 @@ using namespace boost;
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/inference/graph-inl.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
+#include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 
 #include <gtsam/geometry/GeneralCameraT.h>

gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp

@@ -20,7 +20,7 @@ using namespace boost;
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/inference/graph-inl.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
+#include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 
 #include <gtsam/geometry/GeneralCameraT.h>

gtsam/slam/visualSLAM.cpp

@@ -16,12 +16,11 @@
  */
 
 #include <gtsam/slam/visualSLAM.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 
 namespace gtsam {
-	INSTANTIATE_TUPLE_VALUES2(visualSLAM::PoseValues, visualSLAM::PointValues)
+
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(visualSLAM::Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(visualSLAM::Graph, visualSLAM::Values)
 

tests/testExtendedKalmanFilter.cpp

@@ -20,7 +20,7 @@
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 #include <gtsam/geometry/Point2.h>
 
 using namespace gtsam;

tests/testGraph.cpp

@@ -27,7 +27,6 @@ using namespace boost::assign;
 #define GTSAM_MAGIC_GAUSSIAN 3
 
 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
 #include <gtsam/inference/graph-inl.h>
 #include <gtsam/inference/FactorGraph-inl.h>
 

tests/testNonlinearEquality.cpp

@@ -24,8 +24,6 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 
-#include <gtsam/nonlinear/Values-inl.h>
-
 using namespace std;
 using namespace gtsam;
 

tests/testNonlinearFactor.cpp

@@ -35,7 +35,6 @@
 #include <gtsam/slam/simulated2D.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/Values-inl.h>
 
 using namespace std;
 using namespace gtsam;

tests/testRot3QOptimization.cpp

@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3Q.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/nonlinear/Values-inl.h>
+#include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearOptimization-inl.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/PriorFactor.h>

tests/testTupleValues.cpp

@@ -30,7 +30,7 @@
 
 #include <gtsam/base/Vector.h>
 #include <gtsam/nonlinear/Key.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
+#include <gtsam/nonlinear/TupleValues.h>
 
 using namespace gtsam;
 using namespace std;