Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into feature/LPSolver

gtsam/base/deprecated/LieMatrix.h

@@ -29,7 +29,7 @@ namespace gtsam {
  * we can directly add double, Vector, and Matrix into values now, because of
  * gtsam::traits.
  */
-struct LieMatrix : public Matrix {
+struct GTSAM_EXPORT LieMatrix : public Matrix {
 
   /// @name Constructors
   /// @{
@@ -60,7 +60,7 @@ struct LieMatrix : public Matrix {
   /// @{
 
   /** print @param s optional string naming the object */
-  GTSAM_EXPORT void print(const std::string& name = "") const {
+  void print(const std::string& name = "") const {
     gtsam::print(matrix(), name);
   }
   /** equality up to tolerance */

gtsam/base/deprecated/LieVector.h

@@ -27,7 +27,7 @@ namespace gtsam {
  * we can directly add double, Vector, and Matrix into values now, because of
  * gtsam::traits.
  */
-struct LieVector : public Vector {
+struct GTSAM_EXPORT LieVector : public Vector {
 
   enum { dimension = Eigen::Dynamic };
 
@@ -51,13 +51,13 @@ struct LieVector : public Vector {
   LieVector(double d) : Vector((Vector(1) << d).finished()) {}
 
   /** constructor with size and initial data, row order ! */
-  GTSAM_EXPORT LieVector(size_t m, const double* const data) : Vector(m) {
+  LieVector(size_t m, const double* const data) : Vector(m) {
     for (size_t i = 0; i < m; i++) (*this)(i) = data[i];
   }
 
   /// @name Testable
   /// @{
-  GTSAM_EXPORT void print(const std::string& name="") const {
+  void print(const std::string& name="") const {
     gtsam::print(vector(), name);
   }
   bool equals(const LieVector& expected, double tol=1e-5) const {

gtsam/geometry/Cal3_S2Stereo.h

@@ -27,7 +27,7 @@ namespace gtsam {
    * @addtogroup geometry
    * \nosubgrouping
    */
-  class Cal3_S2Stereo {
+  class GTSAM_EXPORT Cal3_S2Stereo {
   private:
 
     Cal3_S2 K_;

gtsam/geometry/PinholeCamera.h

@@ -30,7 +30,7 @@ namespace gtsam {
  * \nosubgrouping
  */
 template<typename Calibration>
-class GTSAM_EXPORT PinholeCamera: public PinholeBaseK<Calibration> {
+class PinholeCamera: public PinholeBaseK<Calibration> {
 
 public:
 

gtsam/geometry/PinholePose.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * \nosubgrouping
  */
 template<typename CALIBRATION>
-class GTSAM_EXPORT PinholeBaseK: public PinholeBase {
+class PinholeBaseK: public PinholeBase {
 
 private:
 
@@ -234,7 +234,7 @@ public:
  * \nosubgrouping
  */
 template<typename CALIBRATION>
-class GTSAM_EXPORT PinholePose: public PinholeBaseK<CALIBRATION> {
+class PinholePose: public PinholeBaseK<CALIBRATION> {
 
 private:
 

gtsam/geometry/Point2.h

@@ -152,16 +152,16 @@ struct traits<Point2> : public internal::VectorSpace<Point2> {
 #endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
 
 /// Distance of the point from the origin, with Jacobian
-double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);
+GTSAM_EXPORT double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);
 
 /// distance between two points
-double distance2(const Point2& p1, const Point2& q,
+GTSAM_EXPORT double distance2(const Point2& p1, const Point2& q,
                  OptionalJacobian<1, 2> H1 = boost::none,
                  OptionalJacobian<1, 2> H2 = boost::none);
 
 // Convenience typedef
 typedef std::pair<Point2, Point2> Point2Pair;
-std::ostream &operator<<(std::ostream &os, const gtsam::Point2Pair &p);
+GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point2Pair &p);
 
 // For MATLAB wrapper
 typedef std::vector<Point2, Eigen::aligned_allocator<Point2> > Point2Vector;
@@ -185,7 +185,7 @@ return p * s;
  * @param tol: absolute tolerance below which we consider touching circles
  * @return optional Point2 with f and h, boost::none if no solution.
  */
-boost::optional<Point2> circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
+GTSAM_EXPORT boost::optional<Point2> circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
 
 /*
  * @brief Circle-circle intersection, from the normalized radii solution.
@@ -193,7 +193,7 @@ boost::optional<Point2> circleCircleIntersection(double R_d, double r_d, double
  * @param c2 center of second circle
  * @return list of solutions (0,1, or 2). Identical circles will return empty list, as well.
  */
-std::list<Point2> circleCircleIntersection(Point2 c1, Point2 c2, boost::optional<Point2> fh);
+GTSAM_EXPORT std::list<Point2> circleCircleIntersection(Point2 c1, Point2 c2, boost::optional<Point2> fh);
 
 /**
  * @brief Intersect 2 circles
@@ -204,7 +204,7 @@ std::list<Point2> circleCircleIntersection(Point2 c1, Point2 c2, boost::optional
  * @param tol: absolute tolerance below which we consider touching circles
  * @return list of solutions (0,1, or 2). Identical circles will return empty list, as well.
  */
-std::list<Point2> circleCircleIntersection(Point2 c1, double r1,
+GTSAM_EXPORT std::list<Point2> circleCircleIntersection(Point2 c1, double r1,
     Point2 c2, double r2, double tol = 1e-9);
 
 } // \ namespace gtsam

gtsam/geometry/Point3.h

@@ -157,26 +157,26 @@ struct traits<const Point3> : public internal::VectorSpace<Point3> {};
 
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;
-std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
+GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
 
 /// distance between two points
-double distance3(const Point3& p1, const Point3& q,
+GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q,
 	                          OptionalJacobian<1, 3> H1 = boost::none,
                               OptionalJacobian<1, 3> H2 = boost::none);
 
 /// Distance of the point from the origin, with Jacobian
-double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
+GTSAM_EXPORT double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
 
 /// normalize, with optional Jacobian
-Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
+GTSAM_EXPORT Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
 
 /// cross product @return this x q
-Point3 cross(const Point3& p, const Point3& q,
+GTSAM_EXPORT Point3 cross(const Point3& p, const Point3& q,
                           OptionalJacobian<3, 3> H_p = boost::none,
                           OptionalJacobian<3, 3> H_q = boost::none);
 
 /// dot product
-double dot(const Point3& p, const Point3& q,
+GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
                         OptionalJacobian<1, 3> H_p = boost::none,
                         OptionalJacobian<1, 3> H_q = boost::none);
 

gtsam/geometry/SO3.h

@@ -33,7 +33,7 @@ namespace gtsam {
  *  We guarantee (all but first) constructors only generate from sub-manifold.
  *  However, round-off errors in repeated composition could move off it...
  */
-class GTSAM_EXPORT SO3: public Matrix3, public LieGroup<SO3, 3> {
+class SO3: public Matrix3, public LieGroup<SO3, 3> {
 
 protected:
 
@@ -135,7 +135,7 @@ public:
 namespace so3 {
 
 /// Functor implementing Exponential map
-class ExpmapFunctor {
+class GTSAM_EXPORT ExpmapFunctor {
  protected:
   const double theta2;
   Matrix3 W, K, KK;
@@ -156,7 +156,7 @@ class ExpmapFunctor {
 };
 
 /// Functor that implements Exponential map *and* its derivatives
-class DexpFunctor : public ExpmapFunctor {
+class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor {
   const Vector3 omega;
   double a, b;
   Matrix3 dexp_;

gtsam/geometry/SimpleCamera.h

@@ -31,7 +31,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
  * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
  * Use PinholeCameraCal3_S2 instead
  */
-class SimpleCamera : public PinholeCameraCal3_S2 {
+class GTSAM_EXPORT SimpleCamera : public PinholeCameraCal3_S2 {
 
   typedef PinholeCamera<Cal3_S2> Base;
   typedef boost::shared_ptr<SimpleCamera> shared_ptr;

gtsam/geometry/triangulation.h

@@ -29,7 +29,7 @@
 namespace gtsam {
 
 /// Exception thrown by triangulateDLT when SVD returns rank < 3
-class TriangulationUnderconstrainedException: public std::runtime_error {
+class GTSAM_EXPORT TriangulationUnderconstrainedException: public std::runtime_error {
 public:
   TriangulationUnderconstrainedException() :
       std::runtime_error("Triangulation Underconstrained Exception.") {
@@ -37,7 +37,7 @@ public:
 };
 
 /// Exception thrown by triangulateDLT when landmark is behind one or more of the cameras
-class TriangulationCheiralityException: public std::runtime_error {
+class GTSAM_EXPORT TriangulationCheiralityException: public std::runtime_error {
 public:
   TriangulationCheiralityException() :
       std::runtime_error(
@@ -323,7 +323,7 @@ Point3 triangulatePoint3(
   (cameras, measurements, rank_tol, optimize);
 }
 
-struct TriangulationParameters {
+struct GTSAM_EXPORT TriangulationParameters {
 
   double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate
   ///< (the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)
@@ -386,7 +386,7 @@ private:
 /**
  * TriangulationResult is an optional point, along with the reasons why it is invalid.
  */
-class TriangulationResult: public boost::optional<Point3> {
+class GTSAM_EXPORT TriangulationResult: public boost::optional<Point3> {
   enum Status {
     VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT
   };

gtsam/navigation/ImuBias.h

@@ -27,7 +27,7 @@ namespace gtsam {
 /// All bias models live in the imuBias namespace
 namespace imuBias {
 
-class ConstantBias {
+class GTSAM_EXPORT ConstantBias {
 private:
   Vector3 biasAcc_;
   Vector3 biasGyro_;

gtsam/navigation/ImuFactor.h

@@ -68,7 +68,7 @@ typedef ManifoldPreintegration PreintegrationType;
  *
  * @addtogroup SLAM
  */
-class PreintegratedImuMeasurements: public PreintegrationType {
+class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
   friend class ImuFactor;
   friend class ImuFactor2;
@@ -180,7 +180,7 @@ private:
  *
  * @addtogroup SLAM
  */
-class ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
+class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
 private:
 
@@ -289,7 +289,7 @@ private:
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
  * @addtogroup SLAM
  */
-class ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
+class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
 
   typedef ImuFactor2 This;

gtsam/navigation/ManifoldPreintegration.h

@@ -30,7 +30,7 @@ namespace gtsam {
  * IMU pre-integration on NavSatet manifold.
  * This corresponds to the original RSS paper (with one difference: V is rotated)
  */
-class ManifoldPreintegration : public PreintegrationBase {
+class GTSAM_EXPORT ManifoldPreintegration : public PreintegrationBase {
  protected:
 
   /**

gtsam/navigation/NavState.h

@@ -31,7 +31,7 @@ typedef Vector3 Velocity3;
  * Navigation state: Pose (rotation, translation) + velocity
  * NOTE(frank): it does not make sense to make this a Lie group, but it is a 9D manifold
  */
-class NavState {
+class GTSAM_EXPORT NavState {
 private:
 
   // TODO(frank):

gtsam/navigation/PreintegratedRotation.h

@@ -28,7 +28,7 @@ namespace gtsam {
 
 /// Parameters for pre-integration:
 /// Usage: Create just a single Params and pass a shared pointer to the constructor
-struct PreintegratedRotationParams {
+struct GTSAM_EXPORT PreintegratedRotationParams {
   Matrix3 gyroscopeCovariance;  ///< continuous-time "Covariance" of gyroscope measurements
   boost::optional<Vector3> omegaCoriolis;  ///< Coriolis constant
   boost::optional<Pose3> body_P_sensor;    ///< The pose of the sensor in the body frame
@@ -68,7 +68,7 @@ public:
  * classes (in AHRSFactor, ImuFactor, and CombinedImuFactor).
  * It includes the definitions of the preintegrated rotation.
  */
-class PreintegratedRotation {
+class GTSAM_EXPORT PreintegratedRotation {
  public:
   typedef PreintegratedRotationParams Params;
 

gtsam/navigation/PreintegrationBase.h

@@ -55,7 +55,7 @@ struct PoseVelocityBias {
  * It includes the definitions of the preintegrated variables and the methods
  * to access, print, and compare them.
  */
-class PreintegrationBase {
+class GTSAM_EXPORT PreintegrationBase {
  public:
   typedef imuBias::ConstantBias Bias;
   typedef PreintegrationParams Params;

gtsam/navigation/PreintegrationParams.h

@@ -23,7 +23,7 @@ namespace gtsam {
 
 /// Parameters for pre-integration:
 /// Usage: Create just a single Params and pass a shared pointer to the constructor
-struct PreintegrationParams: PreintegratedRotationParams {
+struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
   Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer
   Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty
   bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration

gtsam/navigation/TangentPreintegration.h

@@ -25,7 +25,7 @@ namespace gtsam {
  * Integrate on the 9D tangent space of the NavState manifold.
  * See extensive discussion in ImuFactor.lyx
  */
-class TangentPreintegration : public PreintegrationBase {
+class GTSAM_EXPORT TangentPreintegration : public PreintegrationBase {
  protected:
 
   /**

gtsam/slam/SmartFactorParams.h

@@ -39,7 +39,7 @@ enum DegeneracyMode {
 /*
  *  Parameters for the smart (stereo) projection factors
  */
-struct GTSAM_EXPORT SmartProjectionParams {
+struct SmartProjectionParams {
 
   LinearizationMode linearizationMode; ///< How to linearize the factor
   DegeneracyMode degeneracyMode; ///< How to linearize the factor