added using keyword to expose the evaluateError overloads to the derived classes

CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 
 option(GTSAM_NO_BOOST_CPP17 "Require and use boost" ON)
 add_definitions(-Wno-deprecated-declarations)
+add_definitions(-ftemplate-backtrace-limit=0)
 
   set(CMAKE_CXX_STANDARD 17)
 if (GTSAM_NO_BOOST_CPP17)

gtsam/navigation/AttitudeFactor.h

@@ -82,6 +82,7 @@ class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactorN<Rot3>, public At
 
 public:
 
+  using Base::evaluateError;
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<Rot3AttitudeFactor> shared_ptr;
 
@@ -156,6 +157,7 @@ class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactorN<Pose3>,
   typedef NoiseModelFactorN<Pose3> Base;
 
 public:
+  using Base::evaluateError;
 
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<Pose3AttitudeFactor> shared_ptr;

gtsam/navigation/BarometricFactor.h

@@ -38,6 +38,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
     double nT_;  ///< Height Measurement based on a standard atmosphere
 
    public:
+    using Base::evaluateError;
     /// shorthand for a smart pointer to a factor
     typedef boost::shared_ptr<BarometricFactor> shared_ptr;
 
@@ -76,10 +77,8 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
                 double tol = 1e-9) const override;
 
     /// vector of errors
-    Vector evaluateError(
+    Vector evaluateError(const Pose3& p, const double& b, 
-        const Pose3& p, const double& b,
+            OptionalMatrixType H, OptionalMatrixType H2) const override;
-        OptionalMatrixType H = OptionalNone,
-        OptionalMatrixType H2 = OptionalNone) const override;
 
     inline const double& measurementIn() const { return nT_; }
 

gtsam/navigation/ConstantVelocityFactor.h

@@ -30,7 +30,8 @@ class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState> {
     double dt_;
 
    public:
-    using Base = NoiseModelFactorN<NavState, NavState>;
+    using Base = NoiseModelFactor2<NavState, NavState>;
+    using Base::evaluateError;
 
    public:
     ConstantVelocityFactor(Key i, Key j, double dt, const SharedNoiseModel &model)
@@ -48,8 +49,7 @@ class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState> {
      * @return * Vector
      */
     gtsam::Vector evaluateError(const NavState &x1, const NavState &x2,
-                                OptionalMatrixType H1 = OptionalNone,
+                                OptionalMatrixType H1, OptionalMatrixType H2) const override {
-                                OptionalMatrixType H2 = OptionalNone) const override {
         // only used to use update() below
         static const Vector3 b_accel{0.0, 0.0, 0.0};
         static const Vector3 b_omega{0.0, 0.0, 0.0};

gtsam/navigation/ImuFactor.h

@@ -179,6 +179,7 @@ private:
   PreintegratedImuMeasurements _PIM_;
 
 public:
+  using Base::evaluateError;
 
   /** Shorthand for a smart pointer to a factor */
 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5

gtsam/nonlinear/FunctorizedFactor.h

@@ -87,8 +87,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
         NonlinearFactor::shared_ptr(new FunctorizedFactor<R, T>(*this)));
   }
 
-  Vector evaluateError(const T &params, OptionalMatrixType H =
+  Vector evaluateError(const T &params, OptionalMatrixType H) const override {
-                                            OptionalNone) const override {
     R x = func_(params, H);
     Vector error = traits<R>::Local(measured_, x);
     return error;
@@ -193,8 +192,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
 
   Vector evaluateError(
       const T1 &params1, const T2 &params2,
-      OptionalMatrixType H1 = OptionalNone,
+      OptionalMatrixType H1, OptionalMatrixType H2) const override {
-      OptionalMatrixType H2 = OptionalNone) const override {
     R x = func_(params1, params2, H1, H2);
     Vector error = traits<R>::Local(measured_, x);
     return error;

gtsam/nonlinear/NonlinearEquality.h

@@ -46,6 +46,7 @@ class NonlinearEquality: public NoiseModelFactorN<VALUE> {
 
 public:
   typedef VALUE T;
+  using NoiseModelFactor1<VALUE>::evaluateError;
 
 private:
 

gtsam/sfm/ShonanFactor.h

@@ -42,6 +42,7 @@ class GTSAM_EXPORT ShonanFactor : public NoiseModelFactorN<SOn, SOn> {
   using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type;
 
 public:
+  using NoiseModelFactor2<SOn, SOn>::evaluateError;
   /// @name Constructor
   /// @{
 
@@ -71,10 +72,7 @@ public:
 
   /// Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0]
   /// projects down from SO(p) to the Stiefel manifold of px3 matrices.
-  Vector
+  Vector evaluateError(const SOn& Q1, const SOn& Q2, OptionalMatrixType H1, OptionalMatrixType H2) const override;
-  evaluateError(const SOn &Q1, const SOn &Q2,
-                OptionalMatrixType H1 = OptionalNone,
-                OptionalMatrixType H2 = OptionalNone) const override;
   /// @}
 
 private:

gtsam/sfm/TranslationFactor.h

@@ -45,6 +45,7 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   Point3 measured_w_aZb_;
 
  public:
+  using NoiseModelFactor2<Point3, Point3>::evaluateError;
   /// default constructor
   TranslationFactor() {}
 
@@ -65,8 +66,8 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
    */
   Vector evaluateError(
       const Point3& Ta, const Point3& Tb,
-      OptionalMatrixType H1 = OptionalNone,
+      OptionalMatrixType H1,
-      OptionalMatrixType H2 = OptionalNone) const override {
+      OptionalMatrixType H2) const override {
     const Point3 dir = Tb - Ta;
     Matrix33 H_predicted_dir;
     const Point3 predicted = normalize(dir, H1 || H2 ? &H_predicted_dir : nullptr);

gtsam/slam/EssentialMatrixFactor.h

@@ -38,6 +38,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
   typedef EssentialMatrixFactor This;
 
  public:
+  using Base::evaluateError;
   /**
    *  Constructor
    *  @param key Essential Matrix variable key
@@ -90,8 +91,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
 
   /// vector of errors returns 1D vector
   Vector evaluateError(
-      const EssentialMatrix& E,
+      const EssentialMatrix& E, OptionalMatrixType H) const override {
-      OptionalMatrixType H = OptionalNone) const override {
     Vector error(1);
     error << E.error(vA_, vB_, H);
     return error;
@@ -115,6 +115,7 @@ class EssentialMatrixFactor2
   typedef EssentialMatrixFactor2 This;
 
  public:
+  using Base::evaluateError;
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -173,8 +174,7 @@ class EssentialMatrixFactor2
    */
   Vector evaluateError(
       const EssentialMatrix& E, const double& d,
-      OptionalMatrixType DE = OptionalNone,
+      OptionalMatrixType DE, OptionalMatrixType Dd) const override {
-      OptionalMatrixType Dd = OptionalNone) const override {
     // We have point x,y in image 1
     // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d
     // We then convert to second camera by P2 = 1R2'*(P1-1T2)
@@ -235,6 +235,7 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
   Rot3 cRb_;  ///< Rotation from body to camera frame
 
  public:
+  using Base::evaluateError;
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -284,8 +285,7 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
    */
   Vector evaluateError(
       const EssentialMatrix& E, const double& d,
-      OptionalMatrixType DE = OptionalNone,
+      OptionalMatrixType DE, OptionalMatrixType Dd) const override {
-      OptionalMatrixType Dd = OptionalNone) const override {
     if (!DE) {
       // Convert E from body to camera frame
       EssentialMatrix cameraE = cRb_ * E;
@@ -332,6 +332,7 @@ class EssentialMatrixFactor4
   typedef Eigen::Matrix<double, 2, DimK> JacobianCalibration;
 
  public:
+  using Base::evaluateError;
   /**
    *  Constructor
    *  @param keyE Essential Matrix (from camera B to A) variable key
@@ -372,8 +373,7 @@ class EssentialMatrixFactor4
    */
   Vector evaluateError(
       const EssentialMatrix& E, const CALIBRATION& K,
-      OptionalMatrixType H1 = OptionalNone,
+      OptionalMatrixType H1, OptionalMatrixType H2) const override {
-      OptionalMatrixType H2 = OptionalNone) const override {
     // converting from pixel coordinates to normalized coordinates cA and cB
     JacobianCalibration cA_H_K;  // dcA/dK
     JacobianCalibration cB_H_K;  // dcB/dK

gtsam/slam/FrobeniusFactor.h

@@ -54,6 +54,7 @@ class FrobeniusPrior : public NoiseModelFactorN<Rot> {
   Eigen::Matrix<double, Dim, 1> vecM_;  ///< vectorized matrix to approximate
 
  public:
+  using NoiseModelFactor1<Rot>::evaluateError;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /// Constructor
@@ -64,8 +65,7 @@ class FrobeniusPrior : public NoiseModelFactorN<Rot> {
   }
 
   /// Error is just Frobenius norm between Rot element and vectorized matrix M.
-  Vector evaluateError(const Rot& R,
+  Vector evaluateError(const Rot& R, OptionalMatrixType H) const override {
-                       OptionalMatrixType H = OptionalNone) const override {
     return R.vec(H) - vecM_;  // Jacobian is computed only when needed.
   }
 };
@@ -108,6 +108,7 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
+  using NoiseModelFactor2<Rot, Rot>::evaluateError;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /// @name Constructor

gtsam/slam/ReferenceFrameFactor.h

@@ -62,6 +62,7 @@ protected:
 public:
   typedef NoiseModelFactorN<POINT, TRANSFORM, POINT> Base;
   typedef ReferenceFrameFactor<POINT, TRANSFORM> This;
+  using Base::evaluateError;
 
   typedef POINT Point;
   typedef TRANSFORM Transform;
@@ -95,9 +96,8 @@ public:
 
   /** Combined cost and derivative function using boost::optional */
   Vector evaluateError(const Point& global, const Transform& trans, const Point& local,
-        OptionalMatrixType Dforeign = OptionalNone,
+        OptionalMatrixType Dforeign, OptionalMatrixType Dtrans,
-        OptionalMatrixType Dtrans = OptionalNone,
+        OptionalMatrixType Dlocal) const override {
-        OptionalMatrixType Dlocal = OptionalNone) const override {
     Point newlocal = transform_point<Transform,Point>(trans, global, Dtrans, Dforeign);
     if (Dlocal) {
       *Dlocal = -1* Matrix::Identity(traits<Point>::dimension, traits<Point>::dimension);