Upgraded to GeographicLib 1.35

gtsam/3rdparty/GeographicLib/CMakeLists.txt

@@ -2,21 +2,48 @@ project (GeographicLib)
 
 # Version information
 set (PROJECT_VERSION_MAJOR 1)
-set (PROJECT_VERSION_MINOR 34)
+set (PROJECT_VERSION_MINOR 35)
 set (PROJECT_VERSION_PATCH 0)
 set (PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
 if (PROJECT_VERSION_PATCH GREATER 0)
   set (PROJECT_VERSION "${PROJECT_VERSION}.${PROJECT_VERSION_PATCH}")
 endif ()
 
-set (CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+if (DEFINED CPACK_PACKAGE_VERSION_COUNT)
-set (CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+
-set (CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+  # majic (version 0.1.9 and later) invokes cmake defining, e.g.,
+  #   -D CPACK_PACKAGE_VERSION=1.35-SNAPSHOT
+  #   -D CPACK_PACKAGE_VERSION_COUNT=2
+  #   -D CPACK_PACKAGE_VERSION_MAJOR=1
+  #   -D CPACK_PACKAGE_VERSION_MINOR=35
+  #   -D CPACK_PACKAGE_VERSION_SUFFIX=-SNAPSHOT
+  # Check that the first two version numbers are consistent.
+  if (CPACK_PACKAGE_VERSION_COUNT EQUAL 2)
+    set (CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+  elseif (CPACK_PACKAGE_VERSION_COUNT LESS 2)
+    message (FATAL_ERROR "CPACK_PACKAGE_VERSION_COUNT must be 2 or more")
+  endif ()
+  if (NOT (
+        CPACK_PACKAGE_VERSION_MAJOR EQUAL PROJECT_VERSION_MAJOR AND
+        CPACK_PACKAGE_VERSION_MINOR EQUAL PROJECT_VERSION_MINOR))
+    message (FATAL_ERROR "Inconsistency in CPACK and PROJECT version numbers")
+  endif ()
+  set (PROJECT_VERSION_PATCH ${CPACK_PACKAGE_VERSION_PATCH})
+  set (PROJECT_VERSION ${CPACK_PACKAGE_VERSION})
+
+else ()
+
+  set (CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+  set (CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+  set (CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+  set (CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
+
+endif ()
 
 # The library version tracks the numbering given by libtool in the
 # autoconf set up.
 set (LIBVERSION 10)
-set (LIBVERSIONFULL 10.1.1)
+set (LIBVERSIONFULL 10.1.2)
 string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
@@ -201,8 +228,9 @@ if (NOT MSVC)
   endif ()
 endif ()
 
-if (NOT CYGWIN)
+if (NOT (CYGWIN OR ANDROID))
-  # cygwin has a long double but the support for ::cbrtl etc is missing
+  # cygwin and android have a long double but the support for ::cbrtl,
+  # etc., is missing
   include (CheckTypeSize)
   check_type_size ("long double" LONG_DOUBLE BUILTIN_TYPES_ONLY)
 endif ()
@@ -296,7 +324,12 @@ if (MSVC)
   set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
 else ()
   set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
-  # check for C++11 support
+  # check for C++11 support.  If available, the C++11 static_assert and
+  # various math functions (std::atanh, etc.) are used.  This flag is
+  # *not* propagated to clients that use GeographicLib.  However, this
+  # is of no consequence.  When the client code is being compiled (and
+  # the GeographicLib headers being included), work-alike substitutions
+  # for static_assert and std::atanh are used.
   include (CheckCXXCompilerFlag)
   set (CXX11FLAG "-std=c++11")
   check_cxx_compiler_flag (${CXX11FLAG} CXX11TEST1)
@@ -388,7 +421,7 @@ set (CPACK_SOURCE_IGNORE_FILES
   "${PROJECT_SOURCE_DIR}/BUILD"
   "${PROJECT_SOURCE_DIR}/(tests|testdata|cgi-bin|.*\\\\.cache)/"
   "${PROJECT_SOURCE_DIR}/(distrib|.*-distrib|.*-installer|geodesic-papers)/"
-  "${PROJECT_SOURCE_DIR}/[^/]*\\\\.(html|kmz|pdf|xml)\$"
+  "${PROJECT_SOURCE_DIR}/[^/]*\\\\.(html|kmz|pdf)\$"
   "${PROJECT_SOURCE_DIR}/(autogen|biblio|js-compress)\\\\.sh\$"
   "${PROJECT_SOURCE_DIR}/(geodesic-biblio.txt|makefile-admin|[^/]*\\\\.png)\$"
   "${PROJECT_SOURCE_DIR}/matlab/matlab-.*blurb.txt\$" )

gtsam/3rdparty/GeographicLib/Makefile.am

@@ -9,7 +9,7 @@ ACLOCAL_AMFLAGS = -I m4
 
 SUBDIRS = src man tools doc include matlab python cmake examples
 
-EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL pom.xml \
 	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
 
 dist-hook:

gtsam/3rdparty/GeographicLib/Makefile.in

@@ -276,7 +276,7 @@ top_srcdir = @top_srcdir@
 AUTOMAKE_OPTIONS = foreign
 ACLOCAL_AMFLAGS = -I m4
 SUBDIRS = src man tools doc include matlab python cmake examples
-EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL pom.xml \
 	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
 
 all: all-recursive

gtsam/3rdparty/GeographicLib/NEWS

@@ -4,7 +4,30 @@ For more information, see
 
     http://geographiclib.sourceforge.net/
 
-The current version of the library is 1.34.
+The current version of the library is 1.35.
+
+Changes between 1.35 (released 2014-03-13) and 1.34 versions:
+
+   * Fix blunder in UTMUPS::EncodeEPSG (found by Ben Adler).
+
+   * Matlab wrapper routines geodesic{direct,inverse,line} switch to
+     "exact" routes if |f| > 0.02.
+
+   * GeodSolve.cgi allows ellipsoid to be set (and uses the -E option
+     for GeodSolve).
+
+   * Set title in HTML versions of man pages for the utility programs.
+
+   * Changes in cmake support:
+     + add _d to names of executables in debug mode of Visual Studio;
+     + add support for Android (cmake-only), thanks to Pullan Yu;
+     + check CPACK version numbers supplied on command line;
+     + configured version of project-config.cmake.in is
+       project-config.cmake (instead of geographiclib-config.cmake), to
+       prevent find_package incorrectly using this file;
+     + fix tests with multi-line output;
+     + this release includes a file, pom.xml, which is used by an
+       experimental build system (based on maven) at SRI.
 
 Changes between 1.34 (released 2013-12-11) and 1.33 versions:
 

gtsam/3rdparty/GeographicLib/cmake/CMakeLists.txt

@@ -31,14 +31,17 @@ endif ()
 # it to prevent the source and build paths appearing in the installed
 # config files
 set (PROJECT_INCLUDE_DIRS)
-configure_file (project-config.cmake.in
+configure_file (project-config.cmake.in project-config.cmake @ONLY)
-  ${PROJECT_NAME_LOWER}-config.cmake @ONLY)
 configure_file (project-config-version.cmake.in
-  ${PROJECT_NAME_LOWER}-config-version.cmake @ONLY)
+  project-config-version.cmake @ONLY)
 install (FILES
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/project-config.cmake"
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}"
-  DESTINATION "${INSTALL_CMAKE_DIR}")
+  RENAME "${PROJECT_NAME_LOWER}-config.cmake")
+install (FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/project-config-version.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}"
+  RENAME "${PROJECT_NAME_LOWER}-config-version.cmake")
 # Make information about the cmake targets (the library and the tools)
 # available.
 install (EXPORT depends

gtsam/3rdparty/GeographicLib/cmake/project-config.cmake.in

@@ -30,7 +30,7 @@ if (IS_ABSOLUTE "@PROJECT_ROOT_DIR@")
   set (_ROOT "@PROJECT_ROOT_DIR@")
   set (@PROJECT_NAME@_INCLUDE_DIRS "@PROJECT_INCLUDE_DIRS@")
   set (@PROJECT_NAME@_LIBRARY_DIRS "${_ROOT}/src")
-  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/src")
+  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/tools")
 else ()
   # This is an installed package; figure out the paths relative to the
   # current directory.

gtsam/3rdparty/GeographicLib/configure

@@ -1,6 +1,6 @@
 #! /bin/sh
 # Guess values for system-dependent variables and create Makefiles.
-# Generated by GNU Autoconf 2.69 for GeographicLib 1.34.
+# Generated by GNU Autoconf 2.69 for GeographicLib 1.35.
 #
 # Report bugs to <charles@karney.com>.
 #
@@ -590,8 +590,8 @@ MAKEFLAGS=
 # Identity of this package.
 PACKAGE_NAME='GeographicLib'
 PACKAGE_TARNAME='geographiclib'
-PACKAGE_VERSION='1.34'
+PACKAGE_VERSION='1.35'
-PACKAGE_STRING='GeographicLib 1.34'
+PACKAGE_STRING='GeographicLib 1.35'
 PACKAGE_BUGREPORT='charles@karney.com'
 PACKAGE_URL=''
 
@@ -1339,7 +1339,7 @@ if test "$ac_init_help" = "long"; then
   # Omit some internal or obsolete options to make the list less imposing.
   # This message is too long to be a string in the A/UX 3.1 sh.
   cat <<_ACEOF
-\`configure' configures GeographicLib 1.34 to adapt to many kinds of systems.
+\`configure' configures GeographicLib 1.35 to adapt to many kinds of systems.
 
 Usage: $0 [OPTION]... [VAR=VALUE]...
 
@@ -1410,7 +1410,7 @@ fi
 
 if test -n "$ac_init_help"; then
   case $ac_init_help in
-     short | recursive ) echo "Configuration of GeographicLib 1.34:";;
+     short | recursive ) echo "Configuration of GeographicLib 1.35:";;
    esac
   cat <<\_ACEOF
 
@@ -1519,7 +1519,7 @@ fi
 test -n "$ac_init_help" && exit $ac_status
 if $ac_init_version; then
   cat <<\_ACEOF
-GeographicLib configure 1.34
+GeographicLib configure 1.35
 generated by GNU Autoconf 2.69
 
 Copyright (C) 2012 Free Software Foundation, Inc.
@@ -2063,7 +2063,7 @@ cat >config.log <<_ACEOF
 This file contains any messages produced by compilers while
 running configure, to aid debugging if configure makes a mistake.
 
-It was created by GeographicLib $as_me 1.34, which was
+It was created by GeographicLib $as_me 1.35, which was
 generated by GNU Autoconf 2.69.  Invocation command line was
 
   $ $0 $@
@@ -3001,7 +3001,7 @@ fi
 
 # Define the identity of the package.
  PACKAGE='geographiclib'
- VERSION='1.34'
+ VERSION='1.35'
 
 
 cat >>confdefs.h <<_ACEOF
@@ -3049,7 +3049,7 @@ am__tar='$${TAR-tar} chof - "$$tardir"' am__untar='$${TAR-tar} xf -'
 
 
 GEOGRAPHICLIB_VERSION_MAJOR=1
-GEOGRAPHICLIB_VERSION_MINOR=34
+GEOGRAPHICLIB_VERSION_MINOR=35
 GEOGRAPHICLIB_VERSION_PATCH=0
 
 cat >>confdefs.h <<_ACEOF
@@ -3098,7 +3098,7 @@ ac_config_headers="$ac_config_headers include/GeographicLib/Config-ac.h"
 
 
 LT_CURRENT=11
-LT_REVISION=1
+LT_REVISION=2
 LT_AGE=1
 
 
@@ -16672,7 +16672,7 @@ cat >>$CONFIG_STATUS <<\_ACEOF || ac_write_fail=1
 # report actual input values of CONFIG_FILES etc. instead of their
 # values after options handling.
 ac_log="
-This file was extended by GeographicLib $as_me 1.34, which was
+This file was extended by GeographicLib $as_me 1.35, which was
 generated by GNU Autoconf 2.69.  Invocation command line was
 
   CONFIG_FILES    = $CONFIG_FILES
@@ -16738,7 +16738,7 @@ _ACEOF
 cat >>$CONFIG_STATUS <<_ACEOF || ac_write_fail=1
 ac_cs_config="`$as_echo "$ac_configure_args" | sed 's/^ //; s/[\\""\`\$]/\\\\&/g'`"
 ac_cs_version="\\
-GeographicLib config.status 1.34
+GeographicLib config.status 1.35
 configured by $0, generated by GNU Autoconf 2.69,
   with options \\"\$ac_cs_config\\"
 

gtsam/3rdparty/GeographicLib/configure.ac

@@ -1,7 +1,7 @@
 dnl
 dnl Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
 
-AC_INIT([GeographicLib],[1.34],[charles@karney.com])
+AC_INIT([GeographicLib],[1.35],[charles@karney.com])
 AC_CANONICAL_SYSTEM
 AC_PREREQ(2.61)
 AC_CONFIG_SRCDIR(src/Geodesic.cpp)
@@ -9,7 +9,7 @@ AC_CONFIG_MACRO_DIR(m4)
 AM_INIT_AUTOMAKE
 
 GEOGRAPHICLIB_VERSION_MAJOR=1
-GEOGRAPHICLIB_VERSION_MINOR=34
+GEOGRAPHICLIB_VERSION_MINOR=35
 GEOGRAPHICLIB_VERSION_PATCH=0
 AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_MAJOR],
 	[$GEOGRAPHICLIB_VERSION_MAJOR],[major version number])
@@ -35,7 +35,7 @@ dnl Interfaces changed/added/removed:   CURRENT++ REVISION=0
 dnl Interfaces added:                   AGE++
 dnl Interfaces removed:                 AGE=0
 LT_CURRENT=11
-LT_REVISION=1
+LT_REVISION=2
 LT_AGE=1
 AC_SUBST(LT_CURRENT)
 AC_SUBST(LT_REVISION)

gtsam/3rdparty/GeographicLib/doc/GeographicLib.dox

@@ -11,8 +11,8 @@
 /**
 \mainpage GeographicLib library
 \author Charles F. F. Karney (charles@karney.com)
-\version 1.34
+\version 1.35
-\date 2013-12-11
+\date 2014-03-13
 
 \section abstract Abstract
 
@@ -45,22 +45,22 @@ The main project page is at
   http://sourceforge.net/projects/geographiclib </a>
 .
 The code is available for download at
-- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.34.tar.gz">
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.35.tar.gz">
-  GeographicLib-1.34.tar.gz</a>
+  GeographicLib-1.35.tar.gz</a>
-- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.34.zip">
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.35.zip">
-  GeographicLib-1.34.zip</a>
+  GeographicLib-1.35.zip</a>
 .
 as either a compressed tar file (tar.gz) or a zip file.  (The two
 archives have identical contents, except that the zip file has DOS
 line endings.)  Alternatively you can get the latest release using git
 \verbatim
-  git clone -b r1.34 git://git.code.sf.net/p/geographiclib/code geographiclib
+  git clone -b r1.35 git://git.code.sf.net/p/geographiclib/code geographiclib
 \endverbatim
 There are also binary installers for Windows available at
-- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win32.exe">
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win32.exe">
-  GeographicLib-1.34-win32.exe</a>
+  GeographicLib-1.35-win32.exe</a>
-- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win64.exe">
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win64.exe">
-  GeographicLib-1.34-win64.exe</a>
+  GeographicLib-1.35-win64.exe</a>
 .
 It is licensed under the
 <a href="http://www.opensource.org/licenses/MIT">MIT/X11 License</a>;
@@ -180,14 +180,14 @@ Back to \ref intro.  Forward to \ref start.  Up to \ref contents.
 (versions 4.0 and later) and under Windows with Visual Studio 2005, 2008,
 and 2010.  Earlier versions were tested also under Darwin and Solaris.  It
 should compile on a wide range of other systems.  First download either
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34.tar.gz">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35.tar.gz">
-GeographicLib-1.34.tar.gz</a> or
+GeographicLib-1.35.tar.gz</a> or
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34.zip">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35.zip">
-GeographicLib-1.34.zip</a> (or
+GeographicLib-1.35.zip</a> (or
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win32.exe">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win32.exe">
-GeographicLib-1.34-win32.exe</a> or
+GeographicLib-1.35-win32.exe</a> or
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win64.exe">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win64.exe">
-GeographicLib-1.34-win64.exe</a> for binary installation under Windows).
+GeographicLib-1.35-win64.exe</a> for binary installation under Windows).
 Then pick one of the first five options below:
 - \ref cmake.  This is the preferred installation method as it will work
   on the widest range of platforms.  However it requires that you have
@@ -262,10 +262,10 @@ g++ on Linux and with the Visual Studio IDE on Windows.
 
 Here are the steps to compile and install %GeographicLib:
 - Unpack the source, running one of \verbatim
-  tar xfpz GeographicLib-1.34.tar.gz
+  tar xfpz GeographicLib-1.35.tar.gz
-  unzip -q GeographicLib-1.34.zip \endverbatim
+  unzip -q GeographicLib-1.35.zip \endverbatim
   then enter the directory created with one of \verbatim
-  cd GeographicLib-1.34 \endverbatim
+  cd GeographicLib-1.35 \endverbatim
 - Create a separate build directory and enter it, for example, \verbatim
   mkdir BUILD
   cd BUILD \endverbatim
@@ -273,8 +273,8 @@ Here are the steps to compile and install %GeographicLib:
   and MacOSX systems, the command is \verbatim
   cmake .. \endverbatim
   For Windows, the command is typically one of \verbatim
-  cmake -G "Visual Studio 10" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc10/GeographicLib-1.34 ..
+  cmake -G "Visual Studio 10" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc10/GeographicLib-1.35 ..
-  cmake -G "Visual Studio 9 2008" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc9/GeographicLib-1.34 ..
+  cmake -G "Visual Studio 9 2008" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc9/GeographicLib-1.35 ..
 \endverbatim
   The definitions of CMAKE_INSTALL_PREFIX are optional (see below).  The
   settings given above are recommended to ensure that packages that use
@@ -290,7 +290,7 @@ Here are the steps to compile and install %GeographicLib:
     convention.  If it is on ON (the Linux default), the installation
     is to a common directory, e.g., /usr/local.  If it is OFF (the
     Windows default), the installation directory contains the package
-    name, e.g., C:/pkg/GeographicLib-1.34.  The installation
+    name, e.g., C:/pkg/GeographicLib-1.35.  The installation
     directories for the documentation, cmake configuration, python and
     matlab interfaces all depend on the variable with deeper paths
     relative to CMAKE_INSTALL_PREFIX being used when it's ON:
@@ -305,7 +305,7 @@ Here are the steps to compile and install %GeographicLib:
     For windows systems, it is recommended to use a prefix which
     includes the compiler version, as shown above (and also, possibly,
     whether this is a 64-bit build, e.g., <code>cmake -G "Visual Studio
-    10 Win64" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc10-x64/GeographicLib-1.34
+    10 Win64" -D CMAKE_INSTALL_PREFIX=C:/pkg-vc10-x64/GeographicLib-1.35
     ..</code>).  If you just want to try the library to see if it suits
     your needs, pick, for example,
     <code>CMAKE_INSTALL_PREFIX</code>=/tmp/geographic.
@@ -394,9 +394,9 @@ Here are the steps to compile and install %GeographicLib:
 The method works on most Unix-like systems including Linux and Mac OS X.
 Here are the steps to compile and install %GeographicLib:
 - Unpack the source, running \verbatim
-  tar xfpz GeographicLib-1.34.tar.gz \endverbatim
+  tar xfpz GeographicLib-1.35.tar.gz \endverbatim
   then enter the directory created \verbatim
-  cd GeographicLib-1.34 \endverbatim
+  cd GeographicLib-1.35 \endverbatim
 - Create a separate build directory and enter it, for example, \verbatim
   mkdir BUILD
   cd BUILD \endverbatim
@@ -425,9 +425,9 @@ and g++.  This builds a static library and the examples.
 
 Here are the steps to compile and install %GeographicLib:
 - Unpack the source, running \verbatim
-  tar xfpz GeographicLib-1.34.tar.gz \endverbatim
+  tar xfpz GeographicLib-1.35.tar.gz \endverbatim
   then enter the directory created \verbatim
-  cd GeographicLib-1.34 \endverbatim
+  cd GeographicLib-1.35 \endverbatim
 - Edit \verbatim
   include/GeographicLib/Config.h \endverbatim
   If your C++ compiler does not recognize the long double type
@@ -458,8 +458,8 @@ static library and the utilities.  If you only have Visual Studio 2003,
 use cmake to create the necessary solution file, see \ref cmake.  (cmake
 is needed to build the Matlab interface and to run the tests.)
 - Unpack the source, running \verbatim
-  unzip -q GeographicLib-1.34.zip \endverbatim
+  unzip -q GeographicLib-1.35.zip \endverbatim
-- Open GeographicLib-1.34/windows/GeographicLib-vc10.sln in Visual Studio
+- Open GeographicLib-1.35/windows/GeographicLib-vc10.sln in Visual Studio
   2010 (for Visual Studio 2005 and 2008, replace -vc10 by -vc8 or -vc9).
 - Pick the build type (e.g., Release), and select "Build Solution".
 - The library and the compiled examples are in the windows/Release.
@@ -486,14 +486,14 @@ be advisable to build it with the compiler you are using for your own
 code using either \ref cmake or \ref windows.
 
 Download and run
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win32.exe">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win32.exe">
-GeographicLib-1.34-win32.exe</a> or
+GeographicLib-1.35-win32.exe</a> or
-<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.34-win64.exe">
+<a href="http://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.35-win64.exe">
-GeographicLib-1.34-win64.exe</a>:
+GeographicLib-1.35-win64.exe</a>:
  - read the MIT/X11 License agreement,
  - select whether you want your PATH modified,
  - select the installation folder, by default
-   C:\\pkg-vc10\\GeographicLib-1.34 or C:\\pkg-vc10-x64\\GeographicLib-1.34,
+   C:\\pkg-vc10\\GeographicLib-1.35 or C:\\pkg-vc10-x64\\GeographicLib-1.35,
  - select the start menu folder,
  - and install.
  .
@@ -501,7 +501,7 @@ GeographicLib-1.34-win64.exe</a>:
 given in \ref cmake.)  The start menu will now include links to the
 documentation for the library and for the utilities (and a link for
 uninstalling the library).  If you ask for your PATH to be modified, it
-will include C:/pkg-vc10/GeographicLib-1.34/bin where the utilities are
+will include C:/pkg-vc10/GeographicLib-1.35/bin where the utilities are
 installed.  The headers and library are installed in the
 include/GeographicLib and lib folders.  With the 64-bit installer, the
 Matlab interface is installed in the matlab folder.  Add this to your
@@ -552,7 +552,7 @@ Check the code out of git with \verbatim
 Here the "master" branch is checked out.  There are three branches in
 the git repository:
 - <b>master</b>: the main branch for code maintainence.  Releases are
-  tagged on this branch as, e.g., v1.34.
+  tagged on this branch as, e.g., v1.35.
 - <b>devel</b>: the development branch; changes made here are merged
   into master.
 - <b>release</b>: the release branch created by unpacking the source
@@ -562,7 +562,7 @@ the git repository:
   specifying a branch).  This differs from the master branch in that
   some administrative files are excluded while some intermediate files
   are included (in order to aid building on as many platforms as
-  possible).  Releases are tagged on this branch as, e.g., r1.34.
+  possible).  Releases are tagged on this branch as, e.g., r1.35.
 .
 The autoconf configuration script and the formatted man pages are not
 checked into master branch of the repository.  In order to create the
@@ -578,8 +578,8 @@ In the case of cmake, you then run \verbatim
 which will copy the man pages from the build directory back into the
 source tree and package the resulting source tree for distribution as
 \verbatim
-  GeographicLib-1.34.tar.gz
+  GeographicLib-1.35.tar.gz
-  GeographicLib-1.34.zip \endverbatim
+  GeographicLib-1.35.zip \endverbatim
 Finally, \verbatim
   make package \endverbatim
 or building PACKAGE in Visual Studio will create a binary installer for
@@ -605,7 +605,7 @@ With configure, run \verbatim
   make dist-gzip \endverbatim
 which will create the additional files and packages the results ready
 for distribution as \verbatim
-  geographiclib-1.34.tar.gz \endverbatim
+  geographiclib-1.35.tar.gz \endverbatim
 
 <center>
 Back to \ref intro.  Forward to \ref start.  Up to \ref contents.
@@ -695,7 +695,7 @@ In order to use %GeographicLib from C++ code, you will need to
 
   If %GeographicLib is found, then the following cmake variables are set:
   - <code>GeographicLib_FOUND</code> = 1
-  - <code>GeographicLib_VERSION</code> = 1.34
+  - <code>GeographicLib_VERSION</code> = 1.35
   - <code>GeographicLib_INCLUDE_DIRS</code>
   - <code>GeographicLib_LIBRARIES</code> = one of the following two:
   - <code>GeographicLib_SHARED_LIBRARIES</code> = %GeographicLib
@@ -1120,9 +1120,9 @@ feature of %GeographicLib, but want your code still to work with older
 versions.  In that case, you can test the values of the macros
 GEOGRAPHICLIB_VERSION_MAJOR, GEOGRAPHICLIB_VERSION_MINOR, and
 GEOGRAPHICLIB_VERSION_PATCH; these expand to numbers (and the last one
-is usually 0); these macros appeared starting in version 1.34.  There's
+is usually 0); these macros appeared starting in version 1.31.  There's
 also a macro GEOGRAPHICLIB_VERSION_STRING which expands to, e.g.,
-"1.34"; this macro has been defined since version 1.9.
+"1.35"; this macro has been defined since version 1.9.
 
 <center>
 Back to \ref utilities.  Forward to \ref other.  Up to \ref contents.
@@ -1274,7 +1274,7 @@ The <code>matlab</code> directory contains
  - Native Matlab implementations of the geodesic routines.  To use
    these, start Matlab or Octave and run one of (for example) \verbatim
    addpath /usr/local/libexec/GeographicLib/matlab
-   addpath 'C:/pkg-vc10-x64/GeographicLib-1.34/libexec/GeographicLib/matlab'
+   addpath 'C:/pkg-vc10-x64/GeographicLib-1.35/libexec/GeographicLib/matlab'
    \endverbatim
    The available functions are:
    - geoddoc: briefly descibe the routines
@@ -1345,9 +1345,9 @@ There are two ways of compiling the interface code: (1) using cmake and
  - <b>Invoking the compiler from Matlab or Octave:</b> Start Matlab or
    Octave and run, e.g., \code
    mex -setup
-   cd 'C:/pkg-vc10-x64/GeographicLib-1.34/matlab'
+   cd 'C:/pkg-vc10-x64/GeographicLib-1.35/matlab'
    help geographiclibinterface
-   geographiclibinterface('C:/pkg-vc10/GeographicLib-1.34');
+   geographiclibinterface('C:/pkg-vc10/GeographicLib-1.35');
    addpath(pwd);
    \endcode
    The first command allows you to select the compiler to use (which
@@ -1356,7 +1356,7 @@ There are two ways of compiling the interface code: (1) using cmake and
 To use the interface routines for %GeographicLib, run one of (for
 example) \verbatim
   addpath /usr/local/libexec/GeographicLib/matlab
-  addpath 'C:/pkg-vc10-x64/GeographicLib-1.34/libexec/GeographicLib/matlab'
+  addpath 'C:/pkg-vc10-x64/GeographicLib-1.35/libexec/GeographicLib/matlab'
 \endverbatim
 in Octave or Matlab.  The available functions are:
  - geodesicdirect: solve direct geodesic problem
@@ -4048,7 +4048,7 @@ starting point of this geodesic is \f$\beta_1 = 87.48^\circ\f$, \f$\omega_1 =
 0^\circ\f$, and \f$\alpha_1 = 90^\circ\f$.
 
 If the starting point is \f$\beta_1 = 90^\circ\f$, \f$\omega_1 \in
-(0^\circ, 180^\circ)\f$, and \f$\alpha_1 = 0^\circ\f$, then the geodesic
+(0^\circ, 180^\circ)\f$, and \f$\alpha_1 = 180^\circ\f$, then the geodesic
 encircles the ellipsoid in a "transpolar" sense.  The geodesic
 oscillates east and west of the ellipse \f$x = 0\f$; on each oscillation
 it completes slightly more that a full circuit around the ellipsoid
@@ -4067,7 +4067,7 @@ Fig. 4
 Fig. 4:
 Example of a transpolar geodesic on a triaxial ellipsoid.  The
 starting point of this geodesic is \f$\beta_1 = 90^\circ\f$, \f$\omega_1 =
-39.9^\circ\f$, and \f$\alpha_1 = 0^\circ\f$.
+39.9^\circ\f$, and \f$\alpha_1 = 180^\circ\f$.
 
 <center>
 <img src="https://upload.wikimedia.org/wikipedia/commons/9/9c/Transpolar_geodesic_on_a_triaxial_ellipsoid_case_B.svg"
@@ -4078,10 +4078,10 @@ Fig. 5
 Fig. 5:
 Another example of a transpolar geodesic on a triaxial ellipsoid.  The
 starting point of this geodesic is \f$\beta_1 = 90^\circ\f$, \f$\omega_1 =
-9.966^\circ\f$, and \f$\alpha_1 = 0^\circ\f$.
+9.966^\circ\f$, and \f$\alpha_1 = 180^\circ\f$.
 
 If the starting point is \f$\beta_1 = 90^\circ\f$, \f$\omega_1 =
-0^\circ\f$ (an umbilical point), and \f$\alpha_1 = 45^\circ\f$ (the
+0^\circ\f$ (an umbilical point), and \f$\alpha_1 = 135^\circ\f$ (the
 geodesic leaves the ellipse \f$y = 0\f$ at right angles), then the
 geodesic repeatedly intersects the opposite umbilical point and returns to
 its starting point.  However on each circuit the angle at which it
@@ -4099,11 +4099,11 @@ Fig. 6
 Fig. 6:
 Example of an umbilical geodesic on a triaxial ellipsoid.  The
 starting point of this geodesic is \f$\beta_1 = 90^\circ\f$, \f$\omega_1 =
-0^\circ\f$, and \f$\alpha_1 = 45^\circ\f$ and the geodesics is followed
+0^\circ\f$, and \f$\alpha_1 = 135^\circ\f$ and the geodesics is followed
 forwards and backwards until it lies close to the plane \f$y = 0\f$ in
 both directions.
 
-Umbilical geodesic enjoy several interesting properties.
+Umbilical geodesics enjoy several interesting properties.
  - Through any point on the ellipsoid, there are two umbilical geodesics.
  - The geodesic distance between opposite umbilical points is the same
    regardless of the initial direction of the geodesic.
@@ -4217,11 +4217,14 @@ geodesics</a>).
  - If only one point is an umbilicial point, the azimuth at the
    non-umbilical point is found using the generalization of Clairaut's
    equation (given above) with \f$\gamma = 0\f$.
- - If both points lie on the equator \f$\beta = 0\f$, then determine the
+ - Treat the cases where the geodesic might follow a line of constant
-   reduced length \f$m_{12}\f$ for the geodesic which is the shorter
+   \f$\beta\f$.  There are two such cases: (a) the points lie on the
-   path along the ellipse \f$z = 0\f$.  If \f$m_{12} \ge 0\f$, then this
+   ellipse \f$z = 0\f$ on a general ellipsoid and (b) the points lie on
-   is the shortest path on the ellipsoid; otherwise proceed to the
+   an ellipse whose major axis is the \f$x\f$ axis on a prolate ellipsoid
-   general case (next).
+   (\f$a = b > c\f$).  Determine the reduced length \f$m_{12}\f$ for the
+   geodesic which is the shorter path along the ellipse.  If \f$m_{12}
+   \ge 0\f$, then this is the shortest path on the ellipsoid; otherwise
+   proceed to the general case (next).
  - Swap the points, if necessary, so that the first point is the one
    closest to a pole.  Estimate \f$\alpha_1\f$ (by some means) and solve
    the \e hybrid problem, i.e., determine the longitude \f$\omega_2\f$
@@ -4238,6 +4241,12 @@ The shortest path found by this method is unique unless:
  - The points are opposite umbilical points.  In this case,
    \f$\alpha_1\f$ can take on any value and \f$\alpha_2\f$ needs to be
    adjusted to maintain the value of \f$\tan\alpha_1 / \tan\alpha_2\f$.
+   Note that \f$\alpha\f$ increases by \f$\pm 90^\circ\f$ as the
+   geodesic passes through an umbilical point, depending on whether the
+   geodesic is considered as passing to the right or left of the point.
+   Here \f$\alpha_2\f$ is the \e forward azimuth at the second umbilical
+   point, i.e., its azimuth immediately \e after passage through the
+   umbilical point.
  - \f$\beta_1 + \beta_2 = 0\f$ and \f$\cos\alpha_1\f$ and
    \f$\cos\alpha_2\f$ have opposite signs.  In this case, there another
    shortest geodesic with azimuths \f$\pi - \alpha_1\f$ and
@@ -4757,6 +4766,26 @@ been migrated to the archive subdirectory).  All the releases are
 available as tags &ldquo;r<i>m.nn</i>&rdquo; in the the "release" branch
 of the git repository for %GeographicLib.
 
+ - <a href="http://geographiclib.sf.net/1.35">Version 1.35</a>
+   (released 2014-03-13)
+   - Fix blunder in GeographicLib::UTMUPS::EncodeEPSG (found by Ben
+     Adler).
+   - Matlab wrapper routines geodesic{direct,inverse,line} switch to
+     "exact" routes if |<i>f</i>| &gt; 0.02.
+   - GeodSolve.cgi allows ellipsoid to be set (and uses the -E option
+     for <a href="GeodSolve.1.html">GeodSolve</a>).
+   - Set title in HTML versions of man pages for the \ref utilities.
+   - Changes in cmake support:
+     - add _d to names of executables in debug mode of Visual Studio;
+     - add support for Android (cmake-only), thanks to Pullan Yu;
+     - check CPACK version numbers supplied on command line;
+     - configured version of project-config.cmake.in is
+       project-config.cmake (instead of geographiclib-config.cmake), to
+       prevent find_package incorrectly using this file;
+     - fix tests with multi-line output;
+     - this release includes a file, pom.xml, which is used by an
+       experimental build system (based on maven) at SRI.
+
  - <a href="http://geographiclib.sf.net/1.34">Version 1.34</a>
    (released 2013-12-11)
    - Many changes in cmake support:

gtsam/3rdparty/GeographicLib/doc/NETGeographicLib.dox

@@ -11,8 +11,8 @@
 /**
 \mainpage NETGeographicLib library
 \author Scott Heiman (mrmtdew2@outlook.com)
-\version 1.34
+\version 1.35
-\date 2013-12-11
+\date 2014-03-13
 
 \section abstract Abstract
 
@@ -26,14 +26,14 @@ to the GeographicLib classes.  GeographicLib and NETGeographicLib is an
 integrated product.
 
 The NETGeographic project in the GeographicLib-vc10.sln file located in
-\<install folder\>/GeographicLib-1.34/windows will create the NETGeographicLib
+\<install folder\>/GeographicLib-1.35/windows will create the NETGeographicLib
 DLL.  The source code for NETGeographicLib is located in
-\<install folder\>/GeographicLib-1.34/dotnet/NETGeographicLib.  NETGeographicLib
+\<install folder\>/GeographicLib-1.35/dotnet/NETGeographicLib.  NETGeographicLib
 is not available for older versions of Microsoft Visual Studio.
 
 NETGeographicLib has been tested with C#, Managed C++, and Visual Basic.
 Sample code snippets can be found in
-\<install folder\>/GeographicLib-1.34/dotnet/examples.
+\<install folder\>/GeographicLib-1.35/dotnet/examples.
 
 \section differences Differences between NETGeographicLib and GeographicLib
 
@@ -135,7 +135,7 @@ to any Visual Basic source that uses NETGeographicLib classes.
 
 A C# sample application is provided that demonstrates NETGeographicLib classes.
 The source code for the sample application is located in
-\<install folder\>/GeographicLib-1.34/dotnet/Projections.  The sample
+\<install folder\>/GeographicLib-1.35/dotnet/Projections.  The sample
 application creates a tabbed dialog.  Each tab provides data entry fields that
 allow the user to exercise one or more NETGeographicLib classes.
 
@@ -200,7 +200,7 @@ code using the installed library: \verbatim
 project (geodesictest)
 cmake_minimum_required (VERSION 2.8.7) # required for VS_DOTNET_REFERENCES
 
-find_package (GeographicLib 1.34 REQUIRED COMPONENTS NETGeographicLib)
+find_package (GeographicLib 1.35 REQUIRED COMPONENTS NETGeographicLib)
 
 add_executable (${PROJECT_NAME} example-Geodesic-small.cpp)
 set_target_properties (${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "/clr")

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/Geodesic.js

@@ -753,7 +753,7 @@ GeographicLib.GeodesicLine = {};
       // Add the check for sig12 since zero length geodesics might yield
       // m12 < 0.  Test case was
       //
-      //    echo 20.001 0 20.001 0 | Geod -i
+      //    echo 20.001 0 20.001 0 | GeodSolve -i
       //
       // In fact, we will have sig12 > pi/2 for meridional geodesic
       // which is not a shortest path.

gtsam/3rdparty/GeographicLib/doc/scripts/geod-google-instructions.html

@@ -101,8 +101,8 @@
       </blockquote>
       In putting together this Google Maps demonstration, I started with
       the sample code
-      <a href="http://code.google.com/apis/maps/documentation/javascript/examples/geometry-headings.html">
+      <a href="https://developers.google.com/maps/documentation/javascript/examples/geometry-headings">
-	geometry-headings.html</a>.
+	geometry-headings</a>.
     </p>
     <hr>
     <address>Charles Karney

gtsam/3rdparty/GeographicLib/doc/scripts/geod-google.html

@@ -24,13 +24,18 @@
 		   Google Maps,
 		   WGS84 ellipsoid,
 		   GeographicLib" />
-    <link href="http://code.google.com/apis/maps/documentation/javascript/examples/default.css"
+    <style>
-	  rel="stylesheet" type="text/css" />
+      html, body, #map-canvas {
+        height: 100%;
+        margin: 0px;
+        padding: 0px
+      }
+    </style>
     <script type="text/javascript"
 	    src="http://geographiclib.sf.net/scripts/geographiclib.js">
     </script>
     <script type="text/javascript"
-	    src="http://maps.googleapis.com/maps/api/js?sensor=false">
+	    src="https://maps.googleapis.com/maps/api/js?sensor=false">
     </script>
     <script type="text/javascript">
 var geod = GeographicLib.Geodesic.WGS84;
@@ -43,7 +48,7 @@ function initialize() {
     center: new google.maps.LatLng(41.3, -5.5),
     mapTypeId: google.maps.MapTypeId.ROADMAP
   };
-  map = new google.maps.Map(document.getElementById('map_canvas'), mapOptions);
+  map = new google.maps.Map(document.getElementById('map-canvas'), mapOptions);
 
   var geodesicOptions = {
     strokeColor: '#0000FF',
@@ -179,7 +184,7 @@ function clearPaths() {
     </script>
   </head>
   <body onload="initialize()">
-    <div id="map_canvas"
+    <div id="map-canvas"
 	 style="position:relative; border: 1px solid black; width:99.5%;
 	 height:72%;">
     </div>

gtsam/3rdparty/GeographicLib/include/GeographicLib/Config.h

@@ -1,8 +1,8 @@
 // This will be overwritten by ./configure
 
-#define GEOGRAPHICLIB_VERSION_STRING "1.34"
+#define GEOGRAPHICLIB_VERSION_STRING "1.35"
 #define GEOGRAPHICLIB_VERSION_MAJOR 1
-#define GEOGRAPHICLIB_VERSION_MINOR 34
+#define GEOGRAPHICLIB_VERSION_MINOR 35
 #define GEOGRAPHICLIB_VERSION_PATCH 0
 
 // Undefine HAVE_LONG_DOUBLE if this type is unknown to the compiler

gtsam/3rdparty/GeographicLib/include/GeographicLib/Constants.hpp

@@ -21,6 +21,17 @@
 #  elif defined(__GXX_EXPERIMENTAL_CXX0X__)
 #    define STATIC_ASSERT static_assert
 #  elif defined(_MSC_VER) && _MSC_VER >= 1600
+// For reference, here is a table of Visual Studio and _MSC_VER
+// correspondences:
+//
+// _MSC_VER  Visual Studio
+//   1300     vc7
+//   1311     vc7.1 (2003)
+//   1400     vc8   (2005)
+//   1500     vc9   (2008)
+//   1600     vc10  (2010)
+//   1700     vc11  (2012)
+//   1800     vc12  (2013)
 #    define STATIC_ASSERT static_assert
 #  else
 #    define STATIC_ASSERT(cond,reason) \

gtsam/3rdparty/GeographicLib/include/GeographicLib/Geodesic.hpp

@@ -162,8 +162,8 @@ namespace GeographicLib {
    * Example of use:
    * \include example-Geodesic.cpp
    *
-   * <a href="Geod.1.html">Geod</a> is a command-line utility providing access
+   * <a href="GeodSolve.1.html">GeodSolve</a> is a command-line utility
-   * to the functionality of Geodesic and GeodesicLine.
+   * providing access to the functionality of Geodesic and GeodesicLine.
    **********************************************************************/
 
   class GEOGRAPHICLIB_EXPORT Geodesic {

gtsam/3rdparty/GeographicLib/include/GeographicLib/GeodesicExact.hpp

@@ -25,7 +25,7 @@ namespace GeographicLib {
   class GeodesicLineExact;
 
   /**
-   * \brief Exact %Geodesic calculations
+   * \brief Exact geodesic calculations
    *
    * The equations for geodesics on an ellipsoid can be expressed in terms of
    * incomplete elliptic integrals.  The Geodesic class expands these integrals
@@ -67,14 +67,14 @@ namespace GeographicLib {
    * about 8 decimal digits for \e b/\e a ∈ [1/4, 4].
    *
    * See \ref geodellip for the formulation.  See the documentation on the
-   * Geodesic class for additional information on the geodesics problems.
+   * Geodesic class for additional information on the geodesic problems.
    *
    * Example of use:
    * \include example-GeodesicExact.cpp
    *
-   * <a href="Geod.1.html">Geod</a> is a command-line utility providing access
+   * <a href="GeodSolve.1.html">GeodSolve</a> is a command-line utility
-   * to the functionality of GeodesicExact and GeodesicLineExact (via the -E
+   * providing access to the functionality of GeodesicExact and
-   * option).
+   * GeodesicLineExact (via the -E option).
    **********************************************************************/
 
   class GEOGRAPHICLIB_EXPORT GeodesicExact {

gtsam/3rdparty/GeographicLib/include/GeographicLib/GeodesicLine.hpp

@@ -52,8 +52,8 @@ namespace GeographicLib {
    * Example of use:
    * \include example-GeodesicLine.cpp
    *
-   * <a href="Geod.1.html">Geod</a> is a command-line utility providing access
+   * <a href="GeodSolve.1.html">GeodSolve</a> is a command-line utility
-   * to the functionality of Geodesic and GeodesicLine.
+   * providing access to the functionality of Geodesic and GeodesicLine.
    **********************************************************************/
 
   class GEOGRAPHICLIB_EXPORT GeodesicLine {

gtsam/3rdparty/GeographicLib/include/GeographicLib/GeodesicLineExact.hpp

@@ -27,9 +27,9 @@ namespace GeographicLib {
    * Example of use:
    * \include example-GeodesicLineExact.cpp
    *
-   * <a href="Geod.1.html">Geod</a> is a command-line utility providing access
+   * <a href="GeodSolve.1.html">GeodSolve</a> is a command-line utility
-   * to the functionality of GeodesicExact and GeodesicLineExact (via the -E
+   * providing access to the functionality of GeodesicExact and
-   * option).
+   * GeodesicLineExact (via the -E option).
    **********************************************************************/
 
   class GEOGRAPHICLIB_EXPORT GeodesicLineExact {

gtsam/3rdparty/GeographicLib/include/GeographicLib/Math.hpp

@@ -18,8 +18,11 @@
  * Are C++11 math functions available?
  **********************************************************************/
 #if !defined(GEOGRAPHICLIB_CPLUSPLUS11_MATH)
-#  if defined(__GNUC__) && __GNUC__ == 4 && __GNUC_MINOR__ >= 8 \
+#  if defined(__GNUC__) && __GNUC__ == 4 && __GNUC_MINOR__ >= 7 \
-  && __cplusplus >= 201103
+  && __cplusplus >= 201103 && !(defined(__ANDROID__) || defined(ANDROID))
+// The android toolchain uses g++ and supports C++11, but not, apparently, the
+// new mathematical functions introduced with C++11.  Android toolchains might
+// define __ANDROID__ or ANDROID; so need to check both.
 #    define GEOGRAPHICLIB_CPLUSPLUS11_MATH 1
 #  elif defined(_MSC_VER) && _MSC_VER >= 1800
 #    define GEOGRAPHICLIB_CPLUSPLUS11_MATH 1

gtsam/3rdparty/GeographicLib/include/GeographicLib/UTMUPS.hpp

@@ -70,7 +70,7 @@ namespace GeographicLib {
     static const int epsg01N = 32601; // EPSG code for UTM 01N
     static const int epsg60N = 32660; // EPSG code for UTM 60N
     static const int epsgN   = 32661; // EPSG code for UPS   N
-    static const int epsg01S = 32701; // EPSG code for UTM 01N
+    static const int epsg01S = 32701; // EPSG code for UTM 01S
     static const int epsg60S = 32760; // EPSG code for UTM 60S
     static const int epsgS   = 32761; // EPSG code for UPS   S
     static real CentralMeridian(int zone) throw()

gtsam/3rdparty/GeographicLib/legacy/C/geodesic.c

@@ -700,7 +700,7 @@ real geod_geninverse(const struct geod_geodesic* g,
     /* Add the check for sig12 since zero length geodesics might yield m12 <
      * 0.  Test case was
      *
-     *    echo 20.001 0 20.001 0 | Geod -i
+     *    echo 20.001 0 20.001 0 | GeodSolve -i
      *
      * In fact, we will have sig12 > pi/2 for meridional geodesic which is
      * not a shortest path. */

gtsam/3rdparty/GeographicLib/legacy/Fortran/geodesic.for

@@ -685,7 +685,7 @@
 * Add the check for sig12 since zero length geodesics might yield m12 <
 * 0.  Test case was
 *
-*    echo 20.001 0 20.001 0 | Geod -i
+*    echo 20.001 0 20.001 0 | GeodSolve -i
 *
 * In fact, we will have sig12 > pi/2 for meridional geodesic which is
 * not a shortest path.

gtsam/3rdparty/GeographicLib/man/CMakeLists.txt

@@ -34,7 +34,7 @@ foreach (TOOL ${TOOLS})
       MAIN_DEPENDENCY ${TOOL}.pod)
     add_custom_command (OUTPUT ${TOOL}.1.html
       COMMAND
-        pod2html --noindex ${CMAKE_CURRENT_SOURCE_DIR}/${TOOL}.pod |
+        pod2html --title "'${TOOL}(1)'" --noindex ${CMAKE_CURRENT_SOURCE_DIR}/${TOOL}.pod |
         sed -e 's%<head>%<head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">%'
           -e 's%<code>\\\([^<>]*\\\)\(\\\(.\\\)\)</code>%<a href="\\1.\\2.html">&</a>%'g > ${TOOL}.1.html &&
         cp ${TOOL}.1.html ../doc/html-stage/

gtsam/3rdparty/GeographicLib/man/CartConvert.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "CARTCONVERT 1"
-.TH CARTCONVERT 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH CARTCONVERT 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/CartConvert.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>CartConvert(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/CartConvert.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    CartConvert --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/CartConvert.1.html\n";
+"    http://geographiclib.sf.net/1.35/CartConvert.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/ConicProj.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "CONICPROJ 1"
-.TH CONICPROJ 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH CONICPROJ 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/ConicProj.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>ConicProj(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/ConicProj.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    ConicProj --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/ConicProj.1.html\n";
+"    http://geographiclib.sf.net/1.35/ConicProj.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/GeoConvert.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "GEOCONVERT 1"
-.TH GEOCONVERT 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH GEOCONVERT 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/GeoConvert.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>GeoConvert(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/GeoConvert.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    GeoConvert --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/GeoConvert.1.html\n";
+"    http://geographiclib.sf.net/1.35/GeoConvert.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/GeodSolve.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "GEODSOLVE 1"
-.TH GEODSOLVE 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH GEODSOLVE 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/GeodSolve.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>GeodSolve(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/GeodSolve.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    GeodSolve --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/GeodSolve.1.html\n";
+"    http://geographiclib.sf.net/1.35/GeodSolve.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/GeodesicProj.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "GEODESICPROJ 1"
-.TH GEODESICPROJ 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH GEODESICPROJ 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/GeodesicProj.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>GeodesicProj(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/GeodesicProj.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    GeodesicProj --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/GeodesicProj.1.html\n";
+"    http://geographiclib.sf.net/1.35/GeodesicProj.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/GeoidEval.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "GEOIDEVAL 1"
-.TH GEOIDEVAL 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH GEOIDEVAL 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/GeoidEval.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>GeoidEval(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/GeoidEval.usage

@@ -10,7 +10,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    GeoidEval --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/GeoidEval.1.html\n";
+"    http://geographiclib.sf.net/1.35/GeoidEval.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/Gravity.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "GRAVITY 1"
-.TH GRAVITY 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH GRAVITY 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/Gravity.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>Gravity(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/Gravity.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    Gravity --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/Gravity.1.html\n";
+"    http://geographiclib.sf.net/1.35/Gravity.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/MagneticField.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "MAGNETICFIELD 1"
-.TH MAGNETICFIELD 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH MAGNETICFIELD 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/MagneticField.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>MagneticField(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/MagneticField.usage

@@ -10,7 +10,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    MagneticField --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/MagneticField.1.html\n";
+"    http://geographiclib.sf.net/1.35/MagneticField.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/man/Makefile.am

@@ -62,7 +62,7 @@ if HAVE_PODPROGS
 	$(POD2MAN) $^ > $@
 
 .pod.1.html:
-	pod2html --noindex $^ | $(PODFIX) > $@
+	pod2html --noindex --tile "$*(1)" $^ | $(PODFIX) > $@
 
 else
 

gtsam/3rdparty/GeographicLib/man/Makefile.in

@@ -567,7 +567,7 @@ htmlman: $(HTMLMAN)
 @HAVE_PODPROGS_TRUE@	$(POD2MAN) $^ > $@
 
 @HAVE_PODPROGS_TRUE@.pod.1.html:
-@HAVE_PODPROGS_TRUE@	pod2html --noindex $^ | $(PODFIX) > $@
+@HAVE_PODPROGS_TRUE@	pod2html --noindex --tile "$*(1)" $^ | $(PODFIX) > $@
 
 @HAVE_PODPROGS_FALSE@CartConvert.usage:
 @HAVE_PODPROGS_FALSE@	$(USAGECMD)

gtsam/3rdparty/GeographicLib/man/Planimeter.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "PLANIMETER 1"
-.TH PLANIMETER 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH PLANIMETER 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l
@@ -200,7 +200,7 @@ is allowed for \fIf\fR.  (Also, if \fIf\fR > 1, the flattening is set to
 1/\fIf\fR.)  By default, the \s-1WGS84\s0 ellipsoid is used, \fIa\fR = 6378137 m,
 \&\fIf\fR = 1/298.257223563.  If entering vertices as \s-1UTM/UPS\s0 or \s-1MGRS\s0
 coordinates, use the default ellipsoid, since the conversion of these
-coordinates to latitude and longitude uses the \s-1WGS84\s0 parameters.
+coordinates to latitude and longitude always uses the \s-1WGS84\s0 parameters.
 .IP "\fB\-\-comment\-delimiter\fR" 4
 .IX Item "--comment-delimiter"
 set the comment delimiter to \fIcommentdelim\fR (e.g., \*(L"#\*(R" or \*(L"//\*(R").  If

gtsam/3rdparty/GeographicLib/man/Planimeter.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>Planimeter(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>
@@ -56,7 +56,7 @@
 <dt id="e"><b>-e</b></dt>
 <dd>
 
-<p>specify the ellipsoid via <i>a</i> <i>f</i>; the equatorial radius is <i>a</i> and the flattening is <i>f</i>. Setting <i>f</i> = 0 results in a sphere. Specify <i>f</i> &lt; 0 for a prolate ellipsoid. A simple fraction, e.g., 1/297, is allowed for <i>f</i>. (Also, if <i>f</i> &gt; 1, the flattening is set to 1/<i>f</i>.) By default, the WGS84 ellipsoid is used, <i>a</i> = 6378137 m, <i>f</i> = 1/298.257223563. If entering vertices as UTM/UPS or MGRS coordinates, use the default ellipsoid, since the conversion of these coordinates to latitude and longitude uses the WGS84 parameters.</p>
+<p>specify the ellipsoid via <i>a</i> <i>f</i>; the equatorial radius is <i>a</i> and the flattening is <i>f</i>. Setting <i>f</i> = 0 results in a sphere. Specify <i>f</i> &lt; 0 for a prolate ellipsoid. A simple fraction, e.g., 1/297, is allowed for <i>f</i>. (Also, if <i>f</i> &gt; 1, the flattening is set to 1/<i>f</i>.) By default, the WGS84 ellipsoid is used, <i>a</i> = 6378137 m, <i>f</i> = 1/298.257223563. If entering vertices as UTM/UPS or MGRS coordinates, use the default ellipsoid, since the conversion of these coordinates to latitude and longitude always uses the WGS84 parameters.</p>
 
 </dd>
 <dt id="comment-delimiter"><b>--comment-delimiter</b></dt>

gtsam/3rdparty/GeographicLib/man/Planimeter.pod

@@ -78,7 +78,7 @@ is allowed for I<f>.  (Also, if I<f> E<gt> 1, the flattening is set to
 1/I<f>.)  By default, the WGS84 ellipsoid is used, I<a> = 6378137 m,
 I<f> = 1/298.257223563.  If entering vertices as UTM/UPS or MGRS
 coordinates, use the default ellipsoid, since the conversion of these
-coordinates to latitude and longitude uses the WGS84 parameters.
+coordinates to latitude and longitude always uses the WGS84 parameters.
 
 =item B<--comment-delimiter>
 

gtsam/3rdparty/GeographicLib/man/Planimeter.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    Planimeter --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/Planimeter.1.html\n";
+"    http://geographiclib.sf.net/1.35/Planimeter.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"
@@ -76,7 +76,7 @@ int usage(int retval, bool brief) {
 "           default, the WGS84 ellipsoid is used, a = 6378137 m, f =\n"
 "           1/298.257223563.  If entering vertices as UTM/UPS or MGRS\n"
 "           coordinates, use the default ellipsoid, since the conversion of\n"
-"           these coordinates to latitude and longitude uses the WGS84\n"
+"           these coordinates to latitude and longitude always uses the WGS84\n"
 "           parameters.\n"
 "\n"
 "       --comment-delimiter\n"

gtsam/3rdparty/GeographicLib/man/TransverseMercatorProj.1

@@ -124,7 +124,7 @@
 .\" ========================================================================
 .\"
 .IX Title "TRANSVERSEMERCATORPROJ 1"
-.TH TRANSVERSEMERCATORPROJ 1 "2013-12-11" "GeographicLib 1.34" "GeographicLib Utilities"
+.TH TRANSVERSEMERCATORPROJ 1 "2014-03-13" "GeographicLib 1.35" "GeographicLib Utilities"
 .\" For nroff, turn off justification.  Always turn off hyphenation; it makes
 .\" way too many mistakes in technical documents.
 .if n .ad l

gtsam/3rdparty/GeographicLib/man/TransverseMercatorProj.1.html

@@ -2,7 +2,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml">
 <head><link href="http://search.cpan.org/s/style.css" rel="stylesheet" type="text/css">
-<title></title>
+<title>TransverseMercatorProj(1)</title>
 <meta http-equiv="content-type" content="text/html; charset=utf-8" />
 <link rev="made" href="mailto:root@localhost" />
 </head>

gtsam/3rdparty/GeographicLib/man/TransverseMercatorProj.usage

@@ -9,7 +9,7 @@ int usage(int retval, bool brief) {
 "For full documentation type:\n"
 "    TransverseMercatorProj --help\n"
 "or visit:\n"
-"    http://geographiclib.sf.net/1.34/TransverseMercatorProj.1.html\n";
+"    http://geographiclib.sf.net/1.35/TransverseMercatorProj.1.html\n";
   else
     ( retval ? std::cerr : std::cout ) << "Man page:\n"
 "NAME\n"

gtsam/3rdparty/GeographicLib/matlab/geodesicdirect.cpp

@@ -2,7 +2,7 @@
  * \file geodesicdirect.cpp
  * \brief Matlab mex file for geographic to UTM/UPS conversions
  *
- * Copyright (c) Charles Karney (2010-2011) <charles@karney.com> and licensed
+ * Copyright (c) Charles Karney (2010-2013) <charles@karney.com> and licensed
  * under the MIT/X11 License.  For more information, see
  * http://geographiclib.sourceforge.net/
  **********************************************************************/
@@ -17,11 +17,51 @@
 
 #include <algorithm>
 #include <GeographicLib/Geodesic.hpp>
+#include <GeographicLib/GeodesicExact.hpp>
 #include <mex.h>
 
 using namespace std;
 using namespace GeographicLib;
 
+template<class G> void
+compute(double a, double f, mwSize m, const double* geodesic,
+        double* latlong, double* aux) {
+  const double* lat1 = geodesic;
+  const double* lon1 = geodesic + m;
+  const double* azi1 = geodesic + 2*m;
+  const double* s12 = geodesic + 3*m;
+  double* lat2 = latlong;
+  double* lon2 = latlong + m;
+  double* azi2 = latlong + 2*m;
+  double* a12 = NULL;
+  double* m12 = NULL;
+  double* M12 = NULL;
+  double* M21 = NULL;
+  double* S12 = NULL;
+  if (aux) {
+    a12 = aux;
+    m12 = aux + m;
+    M12 = aux + 2*m;
+    M21 = aux + 3*m;
+    S12 = aux + 4*m;
+  }
+
+  const G g(a, f);
+  for (mwIndex i = 0; i < m; ++i) {
+    if (abs(lat1[i]) <= 90 &&
+        lon1[i] >= -540 && lon1[i] < 540 &&
+        azi1[i] >= -540 && azi1[i] < 540) {
+      if (aux)
+        a12[i] = g.Direct(lat1[i], lon1[i], azi1[i], s12[i],
+                          lat2[i], lon2[i], azi2[i],
+                          m12[i], M12[i], M21[i], S12[i]);
+      else
+        g.Direct(lat1[i], lon1[i], azi1[i], s12[i],
+                 lat2[i], lon2[i], azi2[i]);
+    }
+  }
+}
+
 void mexFunction( int nlhs, mxArray* plhs[],
                   int nrhs, const mxArray* prhs[] ) {
 
@@ -54,48 +94,22 @@ void mexFunction( int nlhs, mxArray* plhs[],
 
   mwSize m = mxGetM(prhs[0]);
 
-  double* lat1 = mxGetPr(prhs[0]);
+  const double* geodesic = mxGetPr(prhs[0]);
-  double* lon1 = lat1 + m;
-  double* azi1 = lat1 + 2*m;
-  double* s12 = lat1 + 3*m;
 
-  plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL);
+  double* latlong = mxGetPr(plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL));
-  double* lat2 = mxGetPr(plhs[0]);
+  std::fill(latlong, latlong + 3*m, Math::NaN<double>());
-  std::fill(lat2, lat2 + 3*m, Math::NaN<double>());
-  double* lon2 = lat2 + m;
-  double* azi2 = lat2 + 2*m;
-  double* a12 = NULL;
-  double* m12 = NULL;
-  double* M12 = NULL;
-  double* M21 = NULL;
-  double* S12 = NULL;
-  bool aux = nlhs == 2;
 
-  if (aux) {
+  double* aux =
-    plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL);
+    nlhs == 2 ? mxGetPr(plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL)) :
-    a12 = mxGetPr(plhs[1]);
+    NULL;
-    std::fill(a12, a12 + 5*m, Math::NaN<double>());
+  if (aux)
-    m12 = a12 + m;
+    std::fill(aux, aux + 5*m, Math::NaN<double>());
-    M12 = a12 + 2*m;
-    M21 = a12 + 3*m;
-    S12 = a12 + 4*m;
-  }
 
   try {
-    const Geodesic g(a, f);
+    if (std::abs(f) <= 0.02)
-    for (mwIndex i = 0; i < m; ++i) {
+      compute<Geodesic>(a, f, m, geodesic, latlong, aux);
-      if (abs(lat1[i]) <= 90 &&
+    else
-          lon1[i] >= -540 && lon1[i] < 540 &&
+      compute<GeodesicExact>(a, f, m, geodesic, latlong, aux);
-          azi1[i] >= -540 && azi1[i] < 540) {
-        if (aux)
-          a12[i] = g.Direct(lat1[i], lon1[i], azi1[i], s12[i],
-                            lat2[i], lon2[i], azi2[i], m12[i],
-                            M12[i], M21[i], S12[i]);
-        else
-          g.Direct(lat1[i], lon1[i], azi1[i], s12[i],
-                   lat2[i], lon2[i], azi2[i]);
-      }
-    }
   }
   catch (const std::exception& e) {
     mexErrMsgTxt(e.what());

gtsam/3rdparty/GeographicLib/matlab/geodesicinverse.cpp

@@ -2,7 +2,7 @@
  * \file geodesicinverse.cpp
  * \brief Matlab mex file for geographic to UTM/UPS conversions
  *
- * Copyright (c) Charles Karney (2010-2011) <charles@karney.com> and licensed
+ * Copyright (c) Charles Karney (2010-2013) <charles@karney.com> and licensed
  * under the MIT/X11 License.  For more information, see
  * http://geographiclib.sourceforge.net/
  **********************************************************************/
@@ -17,11 +17,50 @@
 
 #include <algorithm>
 #include <GeographicLib/Geodesic.hpp>
+#include <GeographicLib/GeodesicExact.hpp>
 #include <mex.h>
 
 using namespace std;
 using namespace GeographicLib;
 
+template<class G> void
+compute(double a, double f, mwSize m, const double* latlong,
+        double* geodesic, double* aux) {
+  const double* lat1 = latlong;
+  const double* lon1 = latlong + m;
+  const double* lat2 = latlong + 2*m;
+  const double* lon2 = latlong + 3*m;
+  double* azi1 = geodesic;
+  double* azi2 = geodesic + m;
+  double* s12 = geodesic + 2*m;
+  double* a12 = NULL;
+  double* m12 = NULL;
+  double* M12 = NULL;
+  double* M21 = NULL;
+  double* S12 = NULL;
+  if (aux) {
+    a12 = aux;
+    m12 = aux + m;
+    M12 = aux + 2*m;
+    M21 = aux + 3*m;
+    S12 = aux + 4*m;
+  }
+
+  const G g(a, f);
+  for (mwIndex i = 0; i < m; ++i) {
+    if (abs(lat1[i]) <= 90 && lon1[i] >= -540 && lon1[i] < 540 &&
+        abs(lat2[i]) <= 90 && lon2[i] >= -540 && lon2[i] < 540) {
+      if (aux)
+        a12[i] = g.Inverse(lat1[i], lon1[i], lat2[i], lon2[i],
+                           s12[i], azi1[i], azi2[i],
+                           m12[i], M12[i], M21[i], S12[i]);
+      else
+        g.Inverse(lat1[i], lon1[i], lat2[i], lon2[i],
+                  s12[i], azi1[i], azi2[i]);
+    }
+  }
+}
+
 void mexFunction( int nlhs, mxArray* plhs[],
                   int nrhs, const mxArray* prhs[] ) {
 
@@ -54,47 +93,22 @@ void mexFunction( int nlhs, mxArray* plhs[],
 
   mwSize m = mxGetM(prhs[0]);
 
-  double* lat1 = mxGetPr(prhs[0]);
+  const double* latlong = mxGetPr(prhs[0]);
-  double* lon1 = lat1 + m;
-  double* lat2 = lat1 + 2*m;
-  double* lon2 = lat1 + 3*m;
 
-  plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL);
+  double* geodesic = mxGetPr(plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL));
-  double* azi1 = mxGetPr(plhs[0]);
+  std::fill(geodesic, geodesic + 3*m, Math::NaN<double>());
-  std::fill(azi1, azi1 + 3*m, Math::NaN<double>());
-  double* azi2 = azi1 + m;
-  double* s12 = azi1 + 2*m;
-  double* a12 = NULL;
-  double* m12 = NULL;
-  double* M12 = NULL;
-  double* M21 = NULL;
-  double* S12 = NULL;
-  bool aux = nlhs == 2;
 
-  if (aux) {
+  double* aux =
-    plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL);
+    nlhs == 2 ? mxGetPr(plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL)) :
-    a12 = mxGetPr(plhs[1]);
+    NULL;
-    std::fill(a12, a12 + 5*m, Math::NaN<double>());
+  if (aux)
-    m12 = a12 + m;
+    std::fill(aux, aux + 5*m, Math::NaN<double>());
-    M12 = a12 + 2*m;
-    M21 = a12 + 3*m;
-    S12 = a12 + 4*m;
-  }
 
   try {
-    const Geodesic g(a, f);
+    if (std::abs(f) <= 0.02)
-    for (mwIndex i = 0; i < m; ++i) {
+      compute<Geodesic>(a, f, m, latlong, geodesic, aux);
-      if (abs(lat1[i]) <= 90 && lon1[i] >= -540 && lon1[i] < 540 &&
+    else
-          abs(lat2[i]) <= 90 && lon2[i] >= -540 && lon2[i] < 540) {
+      compute<GeodesicExact>(a, f, m, latlong, geodesic, aux);
-        if (aux)
-          a12[i] = g.Inverse(lat1[i], lon1[i], lat2[i], lon2[i],
-                             s12[i], azi1[i], azi2[i],
-                             m12[i], M12[i], M21[i], S12[i]);
-        else
-          g.Inverse(lat1[i], lon1[i], lat2[i], lon2[i],
-                    s12[i], azi1[i], azi2[i]);
-      }
-    }
   }
   catch (const std::exception& e) {
     mexErrMsgTxt(e.what());

gtsam/3rdparty/GeographicLib/matlab/geodesicline.cpp

@@ -2,7 +2,7 @@
  * \file geodesicline.cpp
  * \brief Matlab mex file for geographic to UTM/UPS conversions
  *
- * Copyright (c) Charles Karney (2010-2011) <charles@karney.com> and licensed
+ * Copyright (c) Charles Karney (2010-2013) <charles@karney.com> and licensed
  * under the MIT/X11 License.  For more information, see
  * http://geographiclib.sourceforge.net/
  **********************************************************************/
@@ -16,11 +16,40 @@
 //    -lGeographic geodesicline.cpp
 
 #include <GeographicLib/GeodesicLine.hpp>
+#include <GeographicLib/GeodesicLineExact.hpp>
 #include <mex.h>
 
 using namespace std;
 using namespace GeographicLib;
 
+template<class G, class L> void
+compute(double a, double f, double lat1, double lon1, double azi1,
+        mwSize m, const double* s12, double* latlong, double* aux) {
+  double* lat2 = latlong;
+  double* lon2 = latlong + m;
+  double* azi2 = latlong + 2*m;
+  double* a12 = NULL;
+  double* m12 = NULL;
+  double* M12 = NULL;
+  double* M21 = NULL;
+  double* S12 = NULL;
+  if (aux) {
+    a12 = aux;
+    m12 = aux + m;
+    M12 = aux + 2*m;
+    M21 = aux + 3*m;
+    S12 = aux + 4*m;
+  }
+  const G g(a, f);
+  const L l(g, lat1, lon1, azi1);
+  for (mwIndex i = 0; i < m; ++i)
+    if (aux)
+      a12[i] = l.Position(s12[i], lat2[i], lon2[i], azi2[i],
+                          m12[i], M12[i], M21[i], S12[i]);
+    else
+      l.Position(s12[i], lat2[i], lon2[i], azi2[i]);
+}
+
 void mexFunction( int nlhs, mxArray* plhs[],
                   int nrhs, const mxArray* prhs[] ) {
 
@@ -70,41 +99,24 @@ void mexFunction( int nlhs, mxArray* plhs[],
 
   double* s12 = mxGetPr(prhs[3]);
 
-  plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL);
+  double* latlong = mxGetPr(plhs[0] = mxCreateDoubleMatrix(m, 3, mxREAL));
-  double* lat2 = mxGetPr(plhs[0]);
+  double* aux =
-  double* lon2 = lat2 + m;
+    nlhs == 2 ? mxGetPr(plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL)) :
-  double* azi2 = lat2 + 2*m;
+    NULL;
-  double* a12 = NULL;
-  double* m12 = NULL;
-  double* M12 = NULL;
-  double* M21 = NULL;
-  double* S12 = NULL;
-  bool aux = nlhs == 2;
-
-  if (aux) {
-    plhs[1] = mxCreateDoubleMatrix(m, 5, mxREAL);
-    a12 = mxGetPr(plhs[1]);
-    m12 = a12 + m;
-    M12 = a12 + 2*m;
-    M21 = a12 + 3*m;
-    S12 = a12 + 4*m;
-  }
 
   try {
-    const Geodesic g(a, f);
     if (!(abs(lat1) <= 90))
       throw GeographicErr("Invalid latitude");
     if (!(lon1 >= -540 || lon1 < 540))
       throw GeographicErr("Invalid longitude");
     if (!(azi1 >= -540 || azi1 < 540))
       throw GeographicErr("Invalid azimuth");
-    const GeodesicLine l(g, lat1, lon1, azi1);
+    if (std::abs(f) <= 0.02)
-    for (mwIndex i = 0; i < m; ++i)
+      compute<Geodesic, GeodesicLine>
-      if (aux)
+        (a, f, lat1, lon1, azi1, m, s12, latlong, aux);
-        a12[i] = l.Position(s12[i], lat2[i], lon2[i], azi2[i],
+    else
-                            m12[i], M12[i], M21[i], S12[i]);
+      compute<GeodesicExact, GeodesicLineExact>
-      else
+        (a, f, lat1, lon1, azi1, m, s12, latlong, aux);
-        l.Position(s12[i], lat2[i], lon2[i], azi2[i]);
   }
   catch (const std::exception& e) {
     mexErrMsgTxt(e.what());

gtsam/3rdparty/GeographicLib/pom.xml

@@ -0,0 +1,82 @@
+<project
+    xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <parent>
+    <groupId>com.sri.vt.majic</groupId>
+    <artifactId>majic-parent</artifactId>
+    <version>0.1.9-SNAPSHOT</version>
+  </parent>
+
+  <groupId>com.sri.vt</groupId>
+  <artifactId>geographiclib</artifactId>
+  <version>1.35-SNAPSHOT</version>
+  <packaging>majic-cmake</packaging>
+  <name>GeographicLib</name>
+
+  <profiles>
+    <profile>
+      <id>os-windows</id>
+      <activation>
+        <os>
+          <family>Windows</family>
+        </os>
+      </activation>
+      <properties>
+        <build.netgeographiclib>ON</build.netgeographiclib>
+      </properties>
+    </profile>
+    <profile>
+      <id>os-linux</id>
+      <activation>
+        <os>
+          <family>Linux</family>
+        </os>
+      </activation>
+      <properties>
+        <build.netgeographiclib>OFF</build.netgeographiclib>
+      </properties>
+    </profile>
+  </profiles>
+
+  <repositories>
+    <repository>
+      <id>artifactory-vt</id>
+      <name>SRI VT Repository</name>
+      <url>https://artifactory-vt.sarnoff.internal/artifactory/repo</url>
+    </repository>
+  </repositories>
+
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>com.sri.vt.majic</groupId>
+        <artifactId>build-helper-maven-plugin</artifactId>
+        <executions>
+          <execution>
+            <id>default-cmake-configure</id>
+            <configuration>
+              <options>
+                <COMMON_INSTALL_PATH>ON</COMMON_INSTALL_PATH>
+                <GEOGRAPHICLIB_LIB_TYPE>BOTH</GEOGRAPHICLIB_LIB_TYPE>
+                <MATLAB_COMPILER>OFF</MATLAB_COMPILER>
+                <GEOGRAPHICLIB_DOCUMENTATION>OFF</GEOGRAPHICLIB_DOCUMENTATION>
+                <BUILD_NETGEOGRAPHICLIB>${build.netgeographiclib}</BUILD_NETGEOGRAPHICLIB>
+              </options>
+            </configuration>
+          </execution>
+          <execution>
+            <id>default-cmake-test</id>
+            <configuration>
+              <configs>
+                <config>Release</config>
+              </configs>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+  </build>
+</project>

gtsam/3rdparty/GeographicLib/src/UTMUPS.cpp

@@ -269,21 +269,19 @@ namespace GeographicLib {
   }
 
   void UTMUPS::DecodeEPSG(int epsg, int& zone, bool& northp) throw() {
+    northp = false;
     if (epsg >= epsg01N && epsg <= epsg60N) {
-      zone = epsg - epsg01N + 1;
+      zone = (epsg - epsg01N) + MINUTMZONE;
       northp = true;
     } else if (epsg == epsgN) {
       zone = UPS;
       northp = true;
     } else if (epsg >= epsg01S && epsg <= epsg60S) {
-      zone = epsg - epsg01S + 1;
+      zone = (epsg - epsg01S) + MINUTMZONE;
-      northp = false;
     } else if (epsg == epsgS) {
       zone = UPS;
-      northp = false;
     } else {
       zone = INVALID;
-      northp = false;
     }
   }
 
@@ -292,7 +290,7 @@ namespace GeographicLib {
     if (zone == UPS)
       epsg = epsgS;
     else if (zone >= MINUTMZONE && zone <= MAXUTMZONE)
-      epsg = epsg + (zone - MINUTMZONE) + epsg01S;
+      epsg = (zone - MINUTMZONE) + epsg01S;
     if (epsg >= 0 && northp)
       epsg += epsgN - epsgS;
     return epsg;

gtsam/3rdparty/GeographicLib/tools/CMakeLists.txt

@@ -22,6 +22,12 @@ foreach (TOOL ${TOOLS})
 
 endforeach ()
 
+if (MSVC OR CMAKE_CONFIGURATION_TYPES)
+  # Add _d suffix for your debug versions of the tools
+  set_target_properties (${TOOLS} PROPERTIES
+    DEBUG_POSTFIX ${CMAKE_DEBUG_POSTFIX})
+endif ()
+
 if (MSVC)
   get_target_property (_LIBTYPE ${PROJECT_LIBRARIES} TYPE)
   if (_LIBTYPE STREQUAL "SHARED_LIBRARY")
@@ -62,21 +68,23 @@ enable_testing ()
 # Here are the tests.  They consists of calling the various tools with
 # --input-string and matching the output against regular expressions.
 
-add_test (GeoConvert0 GeoConvert -p -3 -m --input-string "33.3 44.4")
+add_test (NAME GeoConvert0
+  COMMAND GeoConvert -p -3 -m --input-string "33.3 44.4")
 set_tests_properties (GeoConvert0
   PROPERTIES PASS_REGULAR_EXPRESSION "38SMB4484")
-add_test (GeoConvert1 GeoConvert -d --input-string "38smb")
+add_test (NAME GeoConvert1 COMMAND GeoConvert -d --input-string "38smb")
 set_tests_properties (GeoConvert1
   PROPERTIES PASS_REGULAR_EXPRESSION "32d59'14\\.1\"N 044d27'53\\.4\"E")
-add_test (GeoConvert2 GeoConvert -p -2 --input-string "30d30'30\" 30.50833")
+add_test (NAME GeoConvert2
+  COMMAND GeoConvert -p -2 --input-string "30d30'30\" 30.50833")
 set_tests_properties (GeoConvert2
   PROPERTIES PASS_REGULAR_EXPRESSION "30\\.508 30\\.508")
-add_test (GeoConvert3 GeoConvert --junk)
+add_test (NAME GeoConvert3 COMMAND GeoConvert --junk)
 set_tests_properties (GeoConvert3 PROPERTIES WILL_FAIL ON)
-add_test (GeoConvert4 GeoConvert --input-string garbage)
+add_test (NAME GeoConvert4 COMMAND GeoConvert --input-string garbage)
 set_tests_properties (GeoConvert4 PROPERTIES WILL_FAIL ON)
 # Check fix for DMS::Decode bug fixed on 2011-03-22
-add_test (GeoConvert5 GeoConvert --input-string "5d. 0")
+add_test (NAME GeoConvert5 COMMAND GeoConvert --input-string "5d. 0")
 set_tests_properties (GeoConvert5 PROPERTIES WILL_FAIL ON)
 if (NOT (MSVC AND MSVC_VERSION MATCHES "1[78].."))
   # Check fix for DMS::Decode double rounding bug fixed on 2012-11-15
@@ -84,48 +92,49 @@ if (NOT (MSVC AND MSVC_VERSION MATCHES "1[78].."))
   # http://connect.microsoft.com/VisualStudio/feedback/details/776287
   # OK to skip this test for these compilers because this is a question
   # of accuracy of the least significant bit.
-  add_test (GeoConvert6 GeoConvert -p 9
+  add_test (NAME GeoConvert6 COMMAND GeoConvert -p 9
     --input-string "0 179.99999999999998578")
   set_tests_properties (GeoConvert6
     PROPERTIES PASS_REGULAR_EXPRESSION  "179\\.9999999999999[7-9]")
 endif ()
 
-add_test (GeodSolve0
+add_test (NAME GeodSolve0 COMMAND
   GeodSolve -i -p 0 --input-string "40.6 -73.8 49d01'N 2d33'E")
 set_tests_properties (GeodSolve0
   PROPERTIES PASS_REGULAR_EXPRESSION "53\\.47022 111\\.59367 5853226")
-add_test (GeodSolve1
+add_test (NAME GeodSolve1 COMMAND
   GeodSolve -p 0 --input-string "40d38'23\"N 073d46'44\"W 53d30' 5850e3")
 set_tests_properties (GeodSolve1
   PROPERTIES PASS_REGULAR_EXPRESSION "49\\.01467 2\\.56106 111\\.62947")
 # Check fix for antipodal prolate bug found 2010-09-04
-add_test (GeodSolve2
+add_test (NAME GeodSolve2 COMMAND
   GeodSolve -i -p 0 -e 6.4e6 -1/150 --input-string "0.07476 0 -0.07476 180")
 set_tests_properties (GeodSolve2
   PROPERTIES PASS_REGULAR_EXPRESSION "90\\.00078 90\\.00078 20106193")
 # Another check for similar bug
-add_test (GeodSolve3
+add_test (NAME GeodSolve3 COMMAND
   GeodSolve -i -p 0 -e 6.4e6 -1/150 --input-string "0.1 0 -0.1 180")
 set_tests_properties (GeodSolve3
   PROPERTIES PASS_REGULAR_EXPRESSION "90\\.00105 90\\.00105 20106193")
 # Check fix for short line bug found 2010-05-21
-add_test (GeodSolve4
+add_test (NAME GeodSolve4 COMMAND
   GeodSolve -i --input-string "36.493349428792 0 36.49334942879201 .0000008")
 set_tests_properties (GeodSolve4
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 0\\.072")
 # Check fix for point2=pole bug found 2010-05-03 (but only with long double)
-add_test (GeodSolve5 GeodSolve -p 0 --input-string "0.01777745589997 30 0 10e6")
+add_test (NAME GeodSolve5
+  COMMAND GeodSolve -p 0 --input-string "0.01777745589997 30 0 10e6")
 set_tests_properties (GeodSolve5
   PROPERTIES PASS_REGULAR_EXPRESSION
   "90\\.00000 -150\\.00000 -180\\.00000;90\\.00000 30\\.00000 0\\.00000")
 
 # Check fix for volatile sbet12a bug found 2011-06-25 (gcc 4.4.4 x86 -O3)
 # Found again on 2012-03-27 with tdm-mingw32 (g++ 4.6.1).
-add_test (GeodSolve6 GeodSolve -i --input-string
+add_test (NAME GeodSolve6 COMMAND GeodSolve -i --input-string
   "88.202499451857 0 -88.202499451857 179.981022032992859592")
-add_test (GeodSolve7 GeodSolve -i --input-string
+add_test (NAME GeodSolve7 COMMAND GeodSolve -i --input-string
   "89.262080389218 0 -89.262080389218 179.992207982775375662")
-add_test (GeodSolve8 GeodSolve -i --input-string
+add_test (NAME GeodSolve8 COMMAND GeodSolve -i --input-string
   "89.333123580033 0 -89.333123580032997687 179.99295812360148422")
 set_tests_properties (GeodSolve6
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 20003898.214")
@@ -135,39 +144,42 @@ set_tests_properties (GeodSolve8
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 20003926.881")
 
 # Check fix for volatile x bug found 2011-06-25 (gcc 4.4.4 x86 -O3)
-add_test (GeodSolve9 GeodSolve -i --input-string
+add_test (NAME GeodSolve9 COMMAND GeodSolve -i --input-string
   "56.320923501171 0 -56.320923501171 179.664747671772880215")
 set_tests_properties (GeodSolve9
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 19993558.287")
 
 # Check fix for adjust tol1_ bug found 2011-06-25 (Visual Studio 10 rel + debug)
-add_test (GeodSolve10 GeodSolve -i --input-string
+add_test (NAME GeodSolve10 COMMAND GeodSolve -i --input-string
   "52.784459512564 0 -52.784459512563990912 179.634407464943777557")
 set_tests_properties (GeodSolve10
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 19991596.095")
 
 # Check fix for bet2 = -bet1 bug found 2011-06-25 (Visual Studio 10 rel + debug)
-add_test (GeodSolve11 GeodSolve -i --input-string
+add_test (NAME GeodSolve11 COMMAND GeodSolve -i --input-string
   "48.522876735459 0 -48.52287673545898293 179.599720456223079643")
 set_tests_properties (GeodSolve11
   PROPERTIES PASS_REGULAR_EXPRESSION ".* .* 19989144.774")
 
 # Check fix for inverse geodesics on extreme prolate/oblate ellipsoids
 # Reported 2012-08-29 Stefan Guenther <stefan.gunther@embl.de>; fixed 2012-10-07
-add_test (GeodSolve12
+add_test (NAME GeodSolve12 COMMAND
   GeodSolve -i -e 89.8 -1.83 -p 0 --input-string "0 0 -10 160")
-add_test (GeodSolve13
+add_test (NAME GeodSolve13 COMMAND
   GeodSolve -i -e 89.8 -1.83 -p 0 --input-string "0 0 -10 160" -E)
 set_tests_properties (GeodSolve12 GeodSolve13
   PROPERTIES PASS_REGULAR_EXPRESSION "120\\.27.* 105\\.15.* 267")
 
 # Check fix for pole-encircling bug found 2011-03-16
-add_test (Planimeter0 Planimeter --input-string "89 0;89 90;89 180;89 270")
+add_test (NAME Planimeter0
-add_test (Planimeter1
+  COMMAND Planimeter --input-string "89 0;89 90;89 180;89 270")
+add_test (NAME Planimeter1 COMMAND
   Planimeter -r --input-string "-89 0;-89 90;-89 180;-89 270")
-add_test (Planimeter2 Planimeter --input-string "0 -1;-1 0;0 1;1 0")
+add_test (NAME Planimeter2
-add_test (Planimeter3 Planimeter --input-string "90 0; 0 0; 0 90")
+  COMMAND Planimeter --input-string "0 -1;-1 0;0 1;1 0")
-add_test (Planimeter4 Planimeter -l --input-string "90 0; 0 0; 0 90")
+add_test (NAME Planimeter3 COMMAND Planimeter --input-string "90 0; 0 0; 0 90")
+add_test (NAME Planimeter4
+  COMMAND Planimeter -l --input-string "90 0; 0 0; 0 90")
 set_tests_properties (Planimeter0
   PROPERTIES PASS_REGULAR_EXPRESSION
   "4 631819\\.8745[0-9]+ 2495230567[78]\\.[0-9]+")
@@ -182,56 +194,65 @@ set_tests_properties (Planimeter3
 set_tests_properties (Planimeter4
   PROPERTIES PASS_REGULAR_EXPRESSION "3 20020719\\.[0-9]+")
 # Check fix for Planimeter pole crossing bug found 2011-06-24
-add_test (Planimeter5 Planimeter --input-string "89,0.1;89,90.1;89,-179.9")
+add_test (NAME Planimeter5
+  COMMAND Planimeter --input-string "89,0.1;89,90.1;89,-179.9")
 set_tests_properties (Planimeter5
   PROPERTIES PASS_REGULAR_EXPRESSION
   "3 539297\\.[0-9]+ 1247615283[89]\\.[0-9]+")
 # Check fix for Planimeter lon12 rounding bug found 2012-12-03
-add_test (Planimeter6 Planimeter --input-string "9 -0.00000000000001;9 180;9 0")
+add_test (NAME Planimeter6
-add_test (Planimeter7 Planimeter --input-string "9  0.00000000000001;9 0;9 180")
+  COMMAND Planimeter --input-string "9 -0.00000000000001;9 180;9 0")
-add_test (Planimeter8 Planimeter --input-string "9  0.00000000000001;9 180;9 0")
+add_test (NAME Planimeter7
-add_test (Planimeter9 Planimeter --input-string "9 -0.00000000000001;9 0;9 180")
+  COMMAND Planimeter --input-string "9  0.00000000000001;9 0;9 180")
+add_test (NAME Planimeter8
+  COMMAND Planimeter --input-string "9  0.00000000000001;9 180;9 0")
+add_test (NAME Planimeter9
+  COMMAND Planimeter --input-string "9 -0.00000000000001;9 0;9 180")
 set_tests_properties (Planimeter6 Planimeter7 Planimeter8 Planimeter9
   PROPERTIES PASS_REGULAR_EXPRESSION "3 36026861\\.[0-9]+ -?0.0[0-9]+")
 
 # Check fix for AlbersEqualArea::Reverse bug found 2011-05-01
-add_test (ConicProj0
+add_test (NAME ConicProj0 COMMAND
   ConicProj -a 40d58 39d56 -l 77d45W -r --input-string "220e3 -52e3")
 set_tests_properties (ConicProj0
   PROPERTIES PASS_REGULAR_EXPRESSION
   "39\\.95[0-9]+ -75\\.17[0-9]+ 1\\.67[0-9]+ 0\\.99[0-9]+")
 # Check fix for AlbersEqualArea prolate bug found 2012-05-15
-add_test (ConicProj1
+add_test (NAME ConicProj1 COMMAND
   ConicProj -a 0 0 -e 6.4e6 -0.5 -r --input-string "0 8605508")
 set_tests_properties (ConicProj1
   PROPERTIES PASS_REGULAR_EXPRESSION "^85\\.00")
 # Check fix for LambertConformalConic::Forward bug found 2012-07-14
-add_test (ConicProj2 ConicProj -c -30 -30 --input-string "-30 0")
+add_test (NAME ConicProj2 COMMAND ConicProj -c -30 -30 --input-string "-30 0")
 set_tests_properties (ConicProj2
   PROPERTIES PASS_REGULAR_EXPRESSION "^-?0\\.0+ -?0\\.0+ -?0\\.0+ 1\\.0+")
 # Check fixes for LambertConformalConic::Reverse overflow bugs found 2012-07-14
-add_test (ConicProj3 ConicProj -r -c 0 0 --input-string "1113195 -1e10")
+add_test (NAME ConicProj3
+  COMMAND ConicProj -r -c 0 0 --input-string "1113195 -1e10")
 set_tests_properties (ConicProj3
   PROPERTIES PASS_REGULAR_EXPRESSION "^-90\\.0+ 10\\.00[0-9]+ ")
-add_test (ConicProj4 ConicProj -r -c 0 0 --input-string "1113195 inf")
+add_test (NAME ConicProj4
+  COMMAND ConicProj -r -c 0 0 --input-string "1113195 inf")
 set_tests_properties (ConicProj4
   PROPERTIES PASS_REGULAR_EXPRESSION "^90\\.0+ 10\\.00[0-9]+ ")
-add_test (ConicProj5 ConicProj -r -c 45 45 --input-string "0 -1e100")
+add_test (NAME ConicProj5
+  COMMAND ConicProj -r -c 45 45 --input-string "0 -1e100")
 set_tests_properties (ConicProj5
   PROPERTIES PASS_REGULAR_EXPRESSION "^-90\\.0+ -?0\\.00[0-9]+ ")
-add_test (ConicProj6 ConicProj -r -c 45 45 --input-string "0 -inf")
+add_test (NAME ConicProj6 COMMAND ConicProj -r -c 45 45 --input-string "0 -inf")
 set_tests_properties (ConicProj6
   PROPERTIES PASS_REGULAR_EXPRESSION "^-90\\.0+ -?0\\.00[0-9]+ ")
-add_test (ConicProj7 ConicProj -r -c 90 90 --input-string "0 -1e150")
+add_test (NAME ConicProj7
+  COMMAND ConicProj -r -c 90 90 --input-string "0 -1e150")
 set_tests_properties (ConicProj7
   PROPERTIES PASS_REGULAR_EXPRESSION "^-90\\.0+ -?0\\.00[0-9]+ ")
-add_test (ConicProj8 ConicProj -r -c 90 90 --input-string "0 -inf")
+add_test (NAME ConicProj8 COMMAND ConicProj -r -c 90 90 --input-string "0 -inf")
 set_tests_properties (ConicProj8
   PROPERTIES PASS_REGULAR_EXPRESSION "^-90\\.0+ -?0\\.00[0-9]+ ")
 
-add_test (CartConvert0
+add_test (NAME CartConvert0 COMMAND
   CartConvert -e 6.4e6 1/100 -r --input-string "10e3 0 1e3")
-add_test (CartConvert1
+add_test (NAME CartConvert1 COMMAND
   CartConvert -e 6.4e6 -1/100 -r --input-string "1e3 0 10e3")
 set_tests_properties (CartConvert0
   PROPERTIES PASS_REGULAR_EXPRESSION
@@ -242,60 +263,60 @@ set_tests_properties (CartConvert1
 
 # Test fix to bad meridian convergence at pole with
 # TransverseMercatorExact found 2013-06-26
-add_test (TransverseMercatorProj0
+add_test (NAME TransverseMercatorProj0 COMMAND
   TransverseMercatorProj -k 1 --input-string "90 75")
 set_tests_properties (TransverseMercatorProj0
   PROPERTIES PASS_REGULAR_EXPRESSION
   "^0\\.0+ 10001965\\.7293[0-9]+ 75\\.0+ 1\\.0+")
 # Test fix to bad scale at pole with TransverseMercatorExact
 # found 2013-06-30 (quarter meridian = 10001965.7293127228128889202m)
-add_test (TransverseMercatorProj1
+add_test (NAME TransverseMercatorProj1 COMMAND
   TransverseMercatorProj -k 1 -r --input-string "0 10001965.7293127228")
 set_tests_properties (TransverseMercatorProj1
   PROPERTIES PASS_REGULAR_EXPRESSION "90\\.0+ 0\\.0+ 0\\.0+ (1\\.0+|0\\.9999+)")
 
 if (EXISTS ${GEOGRAPHICLIB_DATA}/geoids/egm96-5.pgm)
   # Check fix for single-cell cache bug found 2010-11-23
-  add_test (GeoidEval0 GeoidEval -n egm96-5 --input-string "0d1 0d1;0d4 0d4")
+  add_test (NAME GeoidEval0
+    COMMAND GeoidEval -n egm96-5 --input-string "0d1 0d1;0d4 0d4")
   set_tests_properties (GeoidEval0
-    PROPERTIES PASS_REGULAR_EXPRESSION "^17\\.1[56]..
+    PROPERTIES PASS_REGULAR_EXPRESSION "^17\\.1[56]..\n17\\.1[45]..")
-17\\.1[45]..")
 endif ()
 
 if (EXISTS ${GEOGRAPHICLIB_DATA}/magnetic/wmm2010.wmm)
   # Test case from WMM2010_Report.pdf, Sec 1.5, pp 14-15:
   # t = 2012.5, lat = -80, lon = 240, h = 100e3
-  add_test (MagneticField0
+  add_test (NAME MagneticField0 COMMAND
     MagneticField -n wmm2010 -p 10 -r --input-string "2012.5 -80 240 100e3")
-  add_test (MagneticField1
+  add_test (NAME MagneticField1 COMMAND
     MagneticField -n wmm2010 -p 10 -r -t 2012.5 --input-string "-80 240 100e3")
-  add_test (MagneticField2
+  add_test (NAME MagneticField2 COMMAND
     MagneticField -n wmm2010 -p 10 -r -c 2012.5 -80 100e3 --input-string "240")
   set_tests_properties (MagneticField0
     PROPERTIES PASS_REGULAR_EXPRESSION
-    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*
+    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*\n.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
-.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
   set_tests_properties (MagneticField1
     PROPERTIES PASS_REGULAR_EXPRESSION
-    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*
+    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*\n.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
-.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
   set_tests_properties (MagneticField2
     PROPERTIES PASS_REGULAR_EXPRESSION
-    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*
+    " 5535\\.5249148687 14765\\.3703243050 -50625\\.9305478794 .*\n.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
-.* 20\\.4904268023 1\\.0272592716 83\\.5313962281 ")
 endif ()
 
 if (EXISTS ${GEOGRAPHICLIB_DATA}/gravity/egm2008.egm)
   # Verify no overflow at poles with high degree model
-  add_test (Gravity0 Gravity -n egm2008 -p 6 --input-string "90 110 0")
+  add_test (NAME Gravity0
+    COMMAND Gravity -n egm2008 -p 6 --input-string "90 110 0")
   set_tests_properties (Gravity0
     PROPERTIES PASS_REGULAR_EXPRESSION "-0\\.000146 0\\.000078 -9\\.832294")
   # Check fix for invR bug in GravityCircle found by Mathieu Peyrega on
   # 2013-04-09
-  add_test (Gravity1 Gravity -n egm2008 -A -c -18 4000 --input-string "-86")
+  add_test (NAME Gravity1
+    COMMAND Gravity -n egm2008 -A -c -18 4000 --input-string "-86")
   set_tests_properties (Gravity1
     PROPERTIES PASS_REGULAR_EXPRESSION "-7\\.438 1\\.305 -1\\.563")
-  add_test (Gravity2 Gravity -n egm2008 -D -c -18 4000 --input-string "-86")
+  add_test (NAME Gravity2
+    COMMAND Gravity -n egm2008 -D -c -18 4000 --input-string "-86")
   set_tests_properties (Gravity2
     PROPERTIES PASS_REGULAR_EXPRESSION "7\\.404 -6\\.168 7\\.616")
 endif ()