gtsam_unstable now builds and tests pass

CMakeLists.txt

@@ -41,6 +41,7 @@ endif()
 option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
 option(GTSAM_BUILD_TIMING                "Enable/Disable building of timing scripts" ON)
 option(GTSAM_BUILD_EXAMPLES              "Enable/Disable building of examples"       ON)
+option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
 option(GTSAM_BUILD_WRAP                  "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
 option(GTSAM_BUILD_SHARED_LIBRARY        "Enable/Disable building of a shared version of gtsam" ON)
 option(GTSAM_BUILD_STATIC_LIBRARY        "Enable/Disable building of a static version of gtsam" ON)
@@ -113,6 +114,11 @@ if (GTSAM_BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif(GTSAM_BUILD_EXAMPLES)
 
+# Build gtsam_unstable
+if (GTSAM_BUILD_UNSTABLE)
+    add_subdirectory(gtsam_unstable)
+endif(GTSAM_BUILD_UNSTABLE)
+
 # Set up CPack
 set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
 set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
@@ -143,6 +149,7 @@ print_config_flag(${GTSAM_BUILD_WRAP}                  "Build Wrap
 print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY}        "Build shared GTSAM Library     ")
 print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM Library     ")
 print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries    ")
+print_config_flag(${GTSAM_BUILD_UNSTABLE}              "Build libgtsam_unstable        ")
 print_config_flag(${GTSAM_ENABLE_INSTALL_TEST_FIX}     "Tests excluded from all target ")
 string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
 message(STATUS                                       "  Build type                 : ${CMAKE_BUILD_TYPE}")

gtsam/unstable/CMakeLists.txt

@@ -1,62 +0,0 @@
-# Build full gtsam2 library as a single library
-# and also build tests 
-set (gtsam2_subdirs
-    base 
-    dynamics
-    geometry
-    slam 
-)
-
-# assemble core libaries
-foreach(subdir ${gtsam2_subdirs})
-    # Build convenience libraries
-    file(GLOB subdir_srcs "${subdir}/*.cpp")
-    set(${subdir}_srcs ${subdir_srcs})
-    if (GTSAM2_BUILD_CONVENIENCE_LIBRARIES)
-        message(STATUS "Building Convenience Library: ${subdir}")
-        add_library(${subdir} STATIC ${subdir_srcs})
-    endif()
-
-    # Build local library and tests
-    message(STATUS "Building ${subdir}") 
-    add_subdirectory(${subdir})
-endforeach(subdir)
- 
-# assemble gtsam2 components
-set(gtsam2_srcs
-    ${base_srcs} 
-    ${discrete_srcs}
-    ${dynamics_srcs}
-    ${geometry_srcs}
-    ${slam_srcs} 
-)
-
-option (GTSAM2_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam2" ON)
- 
-# Versions
-set(gtsam2_version   ${GTSAM2_VERSION_MAJOR}.${GTSAM2_VERSION_MINOR}.${GTSAM2_VERSION_PATCH})
-set(gtsam2_soversion ${GTSAM2_VERSION_MAJOR})
-message(STATUS "GTSAM2 Version: ${gtsam2_version}")
-message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
- 
-# build shared and static versions of the library
-message(STATUS "Building GTSAM2 - static")
-add_library(gtsam2-static STATIC ${gtsam2_srcs})
-set_target_properties(gtsam2-static PROPERTIES 
-    OUTPUT_NAME         gtsam2
-    CLEAN_DIRECT_OUTPUT 1
-	VERSION             ${gtsam2_version}
- 	SOVERSION           ${gtsam2_soversion})
-install(TARGETS gtsam2-static ARCHIVE DESTINATION lib)
-
-if (GTSAM2_BUILD_SHARED_LIBRARY)
-    message(STATUS "Building GTSAM2 - shared")
-    add_library(gtsam2-shared SHARED ${gtsam2_srcs})
-    set_target_properties(gtsam2-shared PROPERTIES 
-        OUTPUT_NAME         gtsam2
-        CLEAN_DIRECT_OUTPUT 1
-    	VERSION             ${gtsam2_version}
-     	SOVERSION           ${gtsam2_soversion})
-    install(TARGETS gtsam2-shared LIBRARY DESTINATION lib )
-endif(GTSAM2_BUILD_SHARED_LIBRARY)
-

gtsam/unstable/base/CMakeLists.txt

@@ -1,17 +0,0 @@
-# Install headers
-file(GLOB base_headers "*.h")
-install(FILES ${base_headers} DESTINATION include/gtsam2/base)
-
-# Components to link tests in this subfolder against
-set(base_local_libs 
-    base)
-
-set (base_full_libs
-    gtsam2-static)
-
-# Exclude tests that don't work
-set (base_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(base "${base_local_libs}" "${base_full_libs}" "${base_excluded_tests}") 
-

gtsam/unstable/dynamics/CMakeLists.txt

@@ -1,17 +0,0 @@
-# Install headers
-file(GLOB dynamics_headers "*.h")
-install(FILES ${dynamics_headers} DESTINATION include/gtsam2/dynamics)
-
-# Components to link tests in this subfolder against
-set(dynamics_local_libs 
-    dynamics)
-
-set (dynamics_full_libs
-    gtsam2-static)
-
-# Exclude tests that don't work
-set (dynamics_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(dynamics "${dynamics_local_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}") 
-

gtsam/unstable/geometry/CMakeLists.txt

@@ -1,17 +0,0 @@
-# Install headers
-file(GLOB geometry_headers "*.h")
-install(FILES ${geometry_headers} DESTINATION include/gtsam2/geometry)
-
-# Components to link tests in this subfolder against
-set(geometry_local_libs 
-    geometry)
-
-set (geometry_full_libs
-    gtsam2-static)
-
-# Exclude tests that don't work
-set (geometry_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(geometry "${geometry_local_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") 
-

gtsam/unstable/slam/CMakeLists.txt

@@ -1,17 +0,0 @@
-# Install headers
-file(GLOB slam_headers "*.h")
-install(FILES ${slam_headers} DESTINATION include/gtsam2/slam)
-
-# Components to link tests in this subfolder against
-set(slam_local_libs 
-    slam)
-
-set (slam_full_libs
-    gtsam2-static)
-
-# Exclude tests that don't work
-set (slam_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(slam "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") 
-

gtsam/unstable/wrap/CMakeLists.txt

@@ -1,52 +0,0 @@
-# Find wrap
-find_package(Wrap REQUIRED)
-
-# Set up codegen
-include(GtsamMatlabWrap)
-
-# Wrap codegen
-#usage: wrap mexExtension interfacePath moduleName toolboxPath
-#  mexExtension  : OS/CPU-dependent extension for MEX binaries
-#  interfacePath : *absolute* path to directory of module interface file
-#  moduleName    : the name of the module, interface file must be called moduleName.h
-#  toolboxPath   : the directory in which to generate the wrappers
-#  [mexFlags]    : extra flags for the mex command
-
-# TODO: generate these includes programmatically
-set(mexFlags "-I${Boost_INCLUDE_DIR} -I${Wrap_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include/gtsam2 -I${CMAKE_INSTALL_PREFIX}/include/gtsam2/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam2/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam2")
-set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam2)
-set(moduleName gtsam2)
-
-find_mexextension()
-
-# Code generation command
-add_custom_target(wrap_gtsam2 ALL COMMAND 
-    ${Wrap_CMD} ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}")
-
-option(GTSAM2_INSTALL_MATLAB_TOOLBOX  "Enable/Disable installation of matlab toolbox"  ON)
-option(GTSAM2_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
-option(GTSAM2_INSTALL_MATLAB_TESTS    "Enable/Disable installation of matlab tests"    ON)
-
-set(GTSAM2_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
-
-if (GTSAM2_INSTALL_MATLAB_TOOLBOX)
-    # Primary toolbox files
-    message(STATUS "Installing Matlab Toolbox to ${GTSAM2_TOOLBOX_INSTALL_PATH}")
-    install(DIRECTORY DESTINATION ${GTSAM2_TOOLBOX_INSTALL_PATH}) # make an empty folder
-    # exploit need for trailing slash to specify a full folder, rather than just its contents to copy
-    install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM2_TOOLBOX_INSTALL_PATH})
-    
-    # Examples
-    if (GTSAM2_INSTALL_MATLAB_EXAMPLES)
-        message(STATUS "Installing Matlab Toolbox Examples")
-        file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
-        install(FILES ${matlab_examples} DESTINATION ${GTSAM2_TOOLBOX_INSTALL_PATH}/gtsam2/examples)
-    endif (GTSAM2_INSTALL_MATLAB_EXAMPLES)
-    
-    # Tests
-    if (GTSAM2_INSTALL_MATLAB_TESTS)
-        message(STATUS "Installing Matlab Toolbox Tests")
-        file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
-        install(FILES ${matlab_tests} DESTINATION ${GTSAM2_TOOLBOX_INSTALL_PATH}/gtsam2/tests)
-    endif (GTSAM2_INSTALL_MATLAB_TESTS)
-endif (GTSAM2_INSTALL_MATLAB_TOOLBOX)

gtsam_unstable/CMakeLists.txt

@@ -0,0 +1,62 @@
+# Build full gtsam_unstable library as a single library
+# and also build tests 
+set (gtsam_unstable_subdirs
+    base 
+    dynamics
+    geometry
+    slam 
+)
+
+# assemble core libaries
+foreach(subdir ${gtsam_unstable_subdirs})
+    # Build convenience libraries
+    file(GLOB subdir_srcs "${subdir}/*.cpp")
+    set(${subdir}_srcs ${subdir_srcs})
+    if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+        message(STATUS "Building Convenience Library: ${subdir}_unstable")
+        add_library("${subdir}_unstable" STATIC ${subdir_srcs})
+    endif()
+
+    # Build local library and tests
+    message(STATUS "Building ${subdir}_unstable") 
+    add_subdirectory(${subdir})
+endforeach(subdir)
+ 
+# assemble gtsam_unstable components
+set(gtsam_unstable_srcs
+    ${base_srcs} 
+    ${discrete_srcs}
+    ${dynamics_srcs}
+    ${geometry_srcs}
+    ${slam_srcs} 
+)
+
+option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON)
+ 
+# Versions - same as core gtsam library
+set(gtsam_unstable_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
+set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
+message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
+message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
+ 
+# build shared and static versions of the library
+message(STATUS "Building GTSAM_UNSTABLE - static")
+add_library(gtsam_unstable-static STATIC ${gtsam_unstable_srcs})
+set_target_properties(gtsam_unstable-static PROPERTIES 
+    OUTPUT_NAME         gtsam_unstable
+    CLEAN_DIRECT_OUTPUT 1
+	VERSION             ${gtsam_unstable_version}
+ 	SOVERSION           ${gtsam_unstable_soversion})
+install(TARGETS gtsam_unstable-static ARCHIVE DESTINATION lib)
+
+if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
+    message(STATUS "Building GTSAM_UNSTABLE - shared")
+    add_library(gtsam_unstable-shared SHARED ${gtsam_unstable_srcs})
+    set_target_properties(gtsam_unstable-shared PROPERTIES 
+        OUTPUT_NAME         gtsam_unstable
+        CLEAN_DIRECT_OUTPUT 1
+    	VERSION             ${gtsam_unstable_version}
+     	SOVERSION           ${gtsam_unstable_soversion})
+    install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib )
+endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
+

gtsam_unstable/base/CMakeLists.txt

@@ -0,0 +1,19 @@
+# Install headers
+file(GLOB base_headers "*.h")
+install(FILES ${base_headers} DESTINATION include/gtsam_unstable/base)
+
+# Components to link tests in this subfolder against
+set(base_local_libs 
+    base
+    base_unstable)
+
+set (base_full_libs
+    gtsam-static
+    gtsam_unstable-static)
+
+# Exclude tests that don't work
+set (base_excluded_tests "")
+
+# Add all tests
+gtsam_add_subdir_tests(base_unstable "${base_local_libs}" "${base_full_libs}" "${base_excluded_tests}") 
+

gtsam_unstable/base/DSF.h

@@ -23,7 +23,7 @@
 #include <set>
 #include <map>
 #include <boost/foreach.hpp>
-#include <gtsam2/base/BTree.h>
+#include <gtsam_unstable/base/BTree.h>
 
 namespace gtsam {
 

gtsam_unstable/base/DSFVector.cpp

@@ -18,7 +18,7 @@
 
 #include <boost/make_shared.hpp>
 #include <boost/foreach.hpp>
-#include <gtsam2/base/DSFVector.h>
+#include <gtsam_unstable/base/DSFVector.h>
 
 using namespace std;
 

gtsam_unstable/base/tests/testBTree.cpp

@@ -22,7 +22,7 @@
 using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam2/base/BTree.h>
+#include <gtsam_unstable/base/BTree.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/base/tests/testDSF.cpp

@@ -22,7 +22,7 @@
 using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/base/DSF.h>
+#include <gtsam_unstable/base/DSF.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/base/tests/testDSFVector.cpp

@@ -24,7 +24,7 @@
 using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/base/DSFVector.h>
+#include <gtsam_unstable/base/DSFVector.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/base/tests/testFixedVector.cpp

@@ -16,7 +16,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/base/FixedVector.h>
+#include <gtsam_unstable/base/FixedVector.h>
 
 using namespace gtsam;
 

gtsam_unstable/dynamics/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Install headers
+file(GLOB dynamics_headers "*.h")
+install(FILES ${dynamics_headers} DESTINATION include/gtsam_unstable/dynamics)
+
+# Components to link tests in this subfolder against
+set(dynamics_local_libs 
+   dynamics_unstable
+   slam
+   nonlinear
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+)
+
+set (dynamics_full_libs
+    gtsam-static
+    gtsam_unstable-static)
+
+# Exclude tests that don't work
+set (dynamics_excluded_tests "")
+
+# Add all tests
+gtsam_add_subdir_tests(dynamics_unstable "${dynamics_local_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}") 
+

gtsam_unstable/dynamics/DynamicsPriors.h

@@ -11,7 +11,7 @@
 
 #include <gtsam/slam/PartialPriorFactor.h>
 
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 

gtsam_unstable/dynamics/FullIMUFactor.h

@@ -9,7 +9,7 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/LieVector.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 

gtsam_unstable/dynamics/IMUFactor.h

@@ -9,7 +9,7 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/LieVector.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 

gtsam_unstable/dynamics/PoseRTV.cpp

@@ -10,8 +10,8 @@
 #include <gtsam/base/Lie-inl.h>
 #include <gtsam/geometry/Pose2.h>
 
-#include <gtsam2/dynamics/inertialUtils.h>
+#include <gtsam_unstable/dynamics/inertialUtils.h>
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 

gtsam_unstable/dynamics/VelocityConstraint.h

@@ -8,7 +8,7 @@
 
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 

gtsam_unstable/dynamics/imuSystem.cpp

@@ -4,7 +4,7 @@
  * @author Alex Cunningham
  */
 
-#include <gtsam2/dynamics/imuSystem.h>
+#include <gtsam_unstable/dynamics/imuSystem.h>
 
 #include <gtsam/nonlinear/NonlinearOptimization.h>
 

gtsam_unstable/dynamics/imuSystem.h

@@ -18,11 +18,11 @@
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
-#include <gtsam2/dynamics/IMUFactor.h>
+#include <gtsam_unstable/dynamics/IMUFactor.h>
-#include <gtsam2/dynamics/FullIMUFactor.h>
+#include <gtsam_unstable/dynamics/FullIMUFactor.h>
-#include <gtsam2/dynamics/VelocityConstraint.h>
+#include <gtsam_unstable/dynamics/VelocityConstraint.h>
-#include <gtsam2/dynamics/DynamicsPriors.h>
+#include <gtsam_unstable/dynamics/DynamicsPriors.h>
 
 /**
  * This domain focuses on a single class of variables: PoseRTV, which

gtsam_unstable/dynamics/imu_examples.h

@@ -7,7 +7,7 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 
 namespace gtsam {
 namespace examples {

gtsam_unstable/dynamics/inertialUtils.cpp

@@ -5,7 +5,7 @@
  * @author Alex Cunningham
  */
 
-#include <gtsam2/dynamics/inertialUtils.h>
+#include <gtsam_unstable/dynamics/inertialUtils.h>
 
 namespace gtsam {
 namespace dynamics {

gtsam_unstable/dynamics/tests/testIMUSystem.cpp

@@ -5,8 +5,8 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/dynamics/imuSystem.h>
+#include <gtsam_unstable/dynamics/imuSystem.h>
-#include <gtsam2/dynamics/imu_examples.h>
+#include <gtsam_unstable/dynamics/imu_examples.h>
 
 using namespace gtsam;
 using namespace imu;

gtsam_unstable/dynamics/tests/testInertialUtils.cpp

@@ -9,7 +9,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/dynamics/inertialUtils.h>
+#include <gtsam_unstable/dynamics/inertialUtils.h>
 
 using namespace gtsam;
 

gtsam_unstable/dynamics/tests/testPoseRTV.cpp

@@ -8,8 +8,8 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/numericalDerivative.h>
 
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
-#include <gtsam2/dynamics/imu_examples.h>
+#include <gtsam_unstable/dynamics/imu_examples.h>
 
 using namespace gtsam;
 

gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp

@@ -4,7 +4,7 @@
  */
 
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam2/dynamics/imuSystem.h>
+#include <gtsam_unstable/dynamics/imuSystem.h>
 
 using namespace gtsam;
 using namespace imu;

gtsam_unstable/geometry/CMakeLists.txt

@@ -0,0 +1,20 @@
+# Install headers
+file(GLOB geometry_headers "*.h")
+install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
+
+# Components to link tests in this subfolder against
+set(geometry_local_libs
+    base 
+    geometry
+    geometry_unstable)
+
+set (geometry_full_libs
+    gtsam-static
+    gtsam_unstable-static)
+
+# Exclude tests that don't work
+set (geometry_excluded_tests "")
+
+# Add all tests
+gtsam_add_subdir_tests(geometry_unstable "${geometry_local_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") 
+

gtsam_unstable/geometry/Tensor1.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor1Expression.h

@@ -21,7 +21,7 @@
 #include <cmath>
 #include <iostream>
 #include <stdexcept>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor2.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor2Expression.h

@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 #include <iostream>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor3.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor3Expression.h

@@ -19,7 +19,7 @@
 #pragma once
 
 #include <iostream>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor4.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor5.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/Tensor5Expression.h

@@ -19,7 +19,7 @@
 #pragma once
 
 #include <iostream>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace tensors {
 

gtsam_unstable/geometry/projectiveGeometry.cpp

@@ -19,8 +19,8 @@
 #include <boost/foreach.hpp>
 #include <gtsam/base/Matrix.h>
 
-#include <gtsam2/geometry/tensorInterface.h>
+#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam2/geometry/projectiveGeometry.h>
+#include <gtsam_unstable/geometry/projectiveGeometry.h>
 
 namespace gtsam {
 

gtsam_unstable/geometry/projectiveGeometry.h

@@ -19,7 +19,7 @@
 #pragma once
 
 #include <list>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 
 namespace gtsam {
 

gtsam_unstable/geometry/tensorInterface.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
 #include <gtsam/base/Matrix.h>
 
 namespace gtsam {

gtsam_unstable/geometry/tensors.h

@@ -29,17 +29,17 @@ namespace tensors {
 } // namespace tensors
 
 // Expression templates
-#include <gtsam2/geometry/Tensor1Expression.h>
+#include <gtsam_unstable/geometry/Tensor1Expression.h>
-#include <gtsam2/geometry/Tensor2Expression.h>
+#include <gtsam_unstable/geometry/Tensor2Expression.h>
-#include <gtsam2/geometry/Tensor3Expression.h>
+#include <gtsam_unstable/geometry/Tensor3Expression.h>
 // Tensor4 not needed so far
-#include <gtsam2/geometry/Tensor5Expression.h>
+#include <gtsam_unstable/geometry/Tensor5Expression.h>
 
 // Actual tensor classes
-#include <gtsam2/geometry/Tensor1.h>
+#include <gtsam_unstable/geometry/Tensor1.h>
-#include <gtsam2/geometry/Tensor2.h>
+#include <gtsam_unstable/geometry/Tensor2.h>
-#include <gtsam2/geometry/Tensor3.h>
+#include <gtsam_unstable/geometry/Tensor3.h>
-#include <gtsam2/geometry/Tensor4.h>
+#include <gtsam_unstable/geometry/Tensor4.h>
-#include <gtsam2/geometry/Tensor5.h>
+#include <gtsam_unstable/geometry/Tensor5.h>
 
 

gtsam_unstable/geometry/tests/testFundamental.cpp

@@ -23,9 +23,9 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam2/geometry/tensorInterface.h>
+#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam2/geometry/projectiveGeometry.h>
+#include <gtsam_unstable/geometry/projectiveGeometry.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/geometry/tests/testHomography2.cpp

@@ -24,9 +24,9 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam/base/Testable.h>
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam2/geometry/tensorInterface.h>
+#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam2/geometry/projectiveGeometry.h>
+#include <gtsam_unstable/geometry/projectiveGeometry.h>
 #include <gtsam/geometry/Pose3.h>
 
 using namespace std;

gtsam_unstable/geometry/tests/testTensors.cpp

@@ -23,9 +23,9 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam2/geometry/tensors.h>
+#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam2/geometry/tensorInterface.h>
+#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam2/geometry/projectiveGeometry.h>
+#include <gtsam_unstable/geometry/projectiveGeometry.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/mainpage.dox

@@ -4,16 +4,16 @@ namespace gtsam {
 
 /**
 
-\mainpage GTSAM2
+\mainpage GTSAM_UNSTABLE
 
-\section  gtsam2_overview GTSAM2 Overview
+\section  gtsam_unstable_overview GTSAM_UNSTABLE Overview
 
-GTSAM2 is a set of experimental additions to GTSAM that are not fully ready to be 
+GTSAM_UNSTABLE is a set of experimental additions to GTSAM that are not fully ready to be 
 integrated into the rest of the library.  This library is actively maintained,
 and should follow the same design procedures as GTSAM.
 
 Because parts of this library are supposed to be a part of GTSAM, all code should
-be in the gtsam namespace, rather than a gtsam2 namespace.    
+be in the gtsam namespace, rather than a gtsam_unstable namespace.    
 
 */
 

gtsam_unstable/slam/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Install headers
+file(GLOB slam_headers "*.h")
+install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
+
+# Components to link tests in this subfolder against
+set(slam_local_libs 
+   slam_unstable
+   slam
+   nonlinear
+   linear
+   inference
+   geometry
+   base
+   ccolamd
+)
+
+set (slam_full_libs
+    gtsam-static
+    gtsam_unstable-static)
+
+# Exclude tests that don't work
+set (slam_excluded_tests "")
+
+# Add all tests
+gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") 
+

gtsam_unstable/slam/simulated3D.cpp

@@ -15,7 +15,7 @@
 * @author Alex Cunningham
 **/
 
-#include <gtsam2/slam/simulated3D.h>
+#include <gtsam_unstable/slam/simulated3D.h>
 
 namespace gtsam {
 

gtsam_unstable/slam/tests/testSimulated3D.cpp

@@ -21,7 +21,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam2/slam/simulated3D.h>
+#include <gtsam_unstable/slam/simulated3D.h>
 
 using namespace gtsam;
 using namespace simulated3D;

gtsam_unstable/wrap/CMakeLists.txt

@@ -0,0 +1,52 @@
+# Find wrap
+find_package(Wrap REQUIRED)
+
+# Set up codegen
+include(GtsamMatlabWrap)
+
+# Wrap codegen
+#usage: wrap mexExtension interfacePath moduleName toolboxPath
+#  mexExtension  : OS/CPU-dependent extension for MEX binaries
+#  interfacePath : *absolute* path to directory of module interface file
+#  moduleName    : the name of the module, interface file must be called moduleName.h
+#  toolboxPath   : the directory in which to generate the wrappers
+#  [mexFlags]    : extra flags for the mex command
+
+# TODO: generate these includes programmatically
+set(mexFlags "-I${Boost_INCLUDE_DIR} -I${Wrap_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable")
+set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
+set(moduleName gtsam_unstable)
+
+find_mexextension()
+
+# Code generation command
+add_custom_target(wrap_gtsam_unstable ALL COMMAND 
+    ${Wrap_CMD} ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}")
+
+option(gtsam_unstable_INSTALL_MATLAB_TOOLBOX  "Enable/Disable installation of matlab toolbox"  ON)
+option(gtsam_unstable_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
+option(gtsam_unstable_INSTALL_MATLAB_TESTS    "Enable/Disable installation of matlab tests"    ON)
+
+set(gtsam_unstable_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
+
+if (gtsam_unstable_INSTALL_MATLAB_TOOLBOX)
+    # Primary toolbox files
+    message(STATUS "Installing Matlab Toolbox to ${gtsam_unstable_TOOLBOX_INSTALL_PATH}")
+    install(DIRECTORY DESTINATION ${gtsam_unstable_TOOLBOX_INSTALL_PATH}) # make an empty folder
+    # exploit need for trailing slash to specify a full folder, rather than just its contents to copy
+    install(DIRECTORY ${toolbox_path} DESTINATION ${gtsam_unstable_TOOLBOX_INSTALL_PATH})
+    
+    # Examples
+    if (gtsam_unstable_INSTALL_MATLAB_EXAMPLES)
+        message(STATUS "Installing Matlab Toolbox Examples")
+        file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
+        install(FILES ${matlab_examples} DESTINATION ${gtsam_unstable_TOOLBOX_INSTALL_PATH}/gtsam_unstable/examples)
+    endif (gtsam_unstable_INSTALL_MATLAB_EXAMPLES)
+    
+    # Tests
+    if (gtsam_unstable_INSTALL_MATLAB_TESTS)
+        message(STATUS "Installing Matlab Toolbox Tests")
+        file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
+        install(FILES ${matlab_tests} DESTINATION ${gtsam_unstable_TOOLBOX_INSTALL_PATH}/gtsam_unstable/tests)
+    endif (gtsam_unstable_INSTALL_MATLAB_TESTS)
+endif (gtsam_unstable_INSTALL_MATLAB_TOOLBOX)

gtsam_unstable/wrap/gtsam_unstable.h

@@ -1,5 +1,5 @@
 /**
- * Matlab toolbox interface definition for GTSAM2
+ * Matlab toolbox interface definition for gtsam_unstable
  */
 
 // Most things are in the gtsam namespace
@@ -11,7 +11,7 @@ class gtsam::Rot3;
 class gtsam::Pose3;
 class gtsam::SharedNoiseModel;
 
-#include <gtsam2/dynamics/PoseRTV.h>
+#include <gtsam_unstable/dynamics/PoseRTV.h>
 class PoseRTV {
 	PoseRTV();
 	PoseRTV(Vector rtv);
@@ -60,7 +60,7 @@ class PoseRTV {
 	Vector translationIntegrationVec(const PoseRTV& x2, double dt) const;
 };
 
-#include <gtsam2/dynamics/imuSystem.h>
+#include <gtsam_unstable/dynamics/imuSystem.h>
 namespace imu {
 
 class Values {