Merged in bugfix/boost_1_61_0_support (pull request #276)

Fixes compile errors when using BOOST version 1.61.0

examples/TimeTBB.cpp

@@ -20,6 +20,7 @@
 
 #include <boost/assign/list_of.hpp>
 #include <map>
+#include <iostream>
 
 using namespace std;
 using namespace gtsam;

gtsam/base/GenericValue.h

@@ -26,7 +26,7 @@
 #include <boost/pool/pool_alloc.hpp>
 
 #include <cmath>
-#include <iosfwd>
+#include <iostream>
 #include <typeinfo> // operator typeid
 
 namespace gtsam {

gtsam/base/Matrix.cpp

@@ -32,6 +32,7 @@
 #include <list>
 #include <fstream>
 #include <limits>
+#include <iostream>
 
 using namespace std;
 

gtsam/base/Vector.cpp

@@ -21,6 +21,7 @@
 #include <stdexcept>
 #include <cstdarg>
 #include <limits>
+#include <iostream>
 #include <fstream>
 #include <sstream>
 #include <iomanip>

gtsam/base/deprecated/LieScalar.h

@@ -19,6 +19,7 @@
 
 #include <gtsam/dllexport.h>
 #include <gtsam/base/VectorSpace.h>
+#include <iostream>
 
 namespace gtsam {
 

gtsam/geometry/BearingRange.h

@@ -22,6 +22,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <boost/concept/assert.hpp>
+#include <iostream>
 
 namespace gtsam {
 

gtsam/geometry/Cal3_S2Stereo.cpp

@@ -0,0 +1,39 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   Cal3_S2Stereo.cpp
+ * @brief  The most common 5DOF 3D->2D calibration + Stereo baseline
+ * @author Chris Beall
+ */
+
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+
+#include <iostream>
+
+namespace gtsam {
+using namespace std;
+
+/* ************************************************************************* */
+void Cal3_S2Stereo::print(const std::string& s) const {
+     K_.print(s+"K: ");
+     std::cout << s << "Baseline: " << b_ << std::endl;
+   }
+
+/* ************************************************************************* */
+bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const {
+  if (fabs(b_ - other.b_) > tol) return false;
+  return K_.equals(other.K_,tol);
+}
+
+/* ************************************************************************* */
+
+} // namespace gtsam

gtsam/geometry/Cal3_S2Stereo.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/geometry/Cal3_S2.h>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -62,16 +63,10 @@ namespace gtsam {
     /// @name Testable
     /// @{
 
-    void print(const std::string& s = "") const {
+    void print(const std::string& s = "") const;
-      K_.print(s+"K: ");
-      std::cout << s << "Baseline: " << b_ << std::endl;
-    }
 
     /// Check if equal up to specified tolerance
-    bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const {
+    bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const;
-      if (fabs(b_ - other.b_) > tol) return false;
-      return K_.equals(other.K_,tol);
-    }
 
    /// @}
     /// @name Standard Interface

gtsam/geometry/Point2.cpp

@@ -17,6 +17,7 @@
 
 #include <gtsam/geometry/Point2.h>
 #include <cmath>
+#include <iostream>
 
 using namespace std;
 

gtsam/geometry/Point3.cpp

@@ -16,6 +16,7 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
+#include <iostream>
 
 using namespace std;
 

gtsam/geometry/Quaternion.h

@@ -21,6 +21,7 @@
 #include <gtsam/base/concepts.h>
 #include <gtsam/geometry/SO3.h> // Logmap/Expmap derivatives
 #include <limits>
+#include <iostream>
 
 #define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options>
 

gtsam/geometry/Rot2.cpp

@@ -17,6 +17,7 @@
  */
 
 #include <gtsam/geometry/Rot2.h>
+#include <iostream>
 
 using namespace std;
 

gtsam/geometry/SO3.cpp

@@ -22,6 +22,7 @@
 #include <gtsam/base/concepts.h>
 #include <cmath>
 #include <limits>
+#include <iostream>
 
 namespace gtsam {
 
@@ -116,6 +117,12 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) {
   return so3::ExpmapFunctor(axis, theta).expmap();
 }
 
+/* ************************************************************************* */
+void SO3::print(const std::string& s) const {
+   std::cout << s << *this << std::endl;
+ }
+
+/* ************************************************************************* */
 SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) {
   if (H) {
     so3::DexpFunctor impl(omega);

gtsam/geometry/SO3.h

@@ -24,6 +24,7 @@
 #include <gtsam/base/Lie.h>
 
 #include <cmath>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -67,9 +68,7 @@ public:
   /// @name Testable
   /// @{
 
-  void print(const std::string& s) const {
+  void print(const std::string& s) const;
-    std::cout << s << *this << std::endl;
-  }
 
   bool equals(const SO3 & R, double tol) const {
     return equal_with_abs_tol(*this, R, tol);

gtsam/linear/JacobianFactor.cpp

@@ -219,15 +219,13 @@ FastVector<JacobianFactor::shared_ptr> _convertOrCastToJacobians(
 /* ************************************************************************* */
 JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph,
     boost::optional<const Ordering&> ordering,
-    boost::optional<const VariableSlots&> variableSlots) {
+    boost::optional<const VariableSlots&> p_variableSlots) {
   gttic(JacobianFactor_combine_constructor);
 
   // Compute VariableSlots if one was not provided
-  boost::optional<VariableSlots> computedVariableSlots;
+  // Binds reference, does not copy VariableSlots
-  if (!variableSlots) {
+  const VariableSlots & variableSlots =
-    computedVariableSlots = VariableSlots(graph);
+      p_variableSlots ? p_variableSlots.get() : VariableSlots(graph);
-    variableSlots = computedVariableSlots; // Binds reference, does not copy VariableSlots
-  }
 
   // Cast or convert to Jacobians
   FastVector<JacobianFactor::shared_ptr> jacobians = _convertOrCastToJacobians(
@@ -238,15 +236,15 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph,
   // 'unorderedSlots' of any variables discovered that are not in the ordering.  Those will then
   // be added after all of the ordered variables.
   FastVector<VariableSlots::const_iterator> orderedSlots;
-  orderedSlots.reserve(variableSlots->size());
+  orderedSlots.reserve(variableSlots.size());
   if (ordering) {
     // If an ordering is provided, arrange the slots first that ordering
     FastList<VariableSlots::const_iterator> unorderedSlots;
     size_t nOrderingSlotsUsed = 0;
     orderedSlots.resize(ordering->size());
     FastMap<Key, size_t> inverseOrdering = ordering->invert();
-    for (VariableSlots::const_iterator item = variableSlots->begin();
+    for (VariableSlots::const_iterator item = variableSlots.begin();
-        item != variableSlots->end(); ++item) {
+        item != variableSlots.end(); ++item) {
       FastMap<Key, size_t>::const_iterator orderingPosition =
           inverseOrdering.find(item->first);
       if (orderingPosition == inverseOrdering.end()) {
@@ -267,8 +265,8 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph,
   } else {
     // If no ordering is provided, arrange the slots as they were, which will be sorted
     // numerically since VariableSlots uses a map sorting on Key.
-    for (VariableSlots::const_iterator item = variableSlots->begin();
+    for (VariableSlots::const_iterator item = variableSlots.begin();
-        item != variableSlots->end(); ++item)
+        item != variableSlots.end(); ++item)
       orderedSlots.push_back(item);
   }
   gttoc(Order_slots);

gtsam/linear/JacobianFactor.h

@@ -154,7 +154,7 @@ namespace gtsam {
     explicit JacobianFactor(
       const GaussianFactorGraph& graph,
       boost::optional<const Ordering&> ordering = boost::none,
-      boost::optional<const VariableSlots&> variableSlots = boost::none);
+      boost::optional<const VariableSlots&> p_variableSlots = boost::none);
 
     /** Virtual destructor */
     virtual ~JacobianFactor() {}

gtsam/nonlinear/LevenbergMarquardtOptimizer.h

@@ -23,6 +23,7 @@
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/nonlinear/LevenbergMarquardtParams.h>
 #include <gtsam/linear/VectorValues.h>
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 class NonlinearOptimizerMoreOptimizationTest;
 

gtsam/nonlinear/internal/ExecutionTrace.h

@@ -25,6 +25,7 @@
 #include <boost/type_traits/aligned_storage.hpp>
 
 #include <Eigen/Core>
+#include <iostream>
 
 namespace gtsam {
 namespace internal {

gtsam/nonlinear/tests/testCallRecord.cpp

@@ -23,6 +23,7 @@
 #include <gtsam/base/Testable.h>
 
 #include <CppUnitLite/TestHarness.h>
+#include <iostream>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/geometry/Event.cpp

@@ -18,7 +18,21 @@
  */
 
 #include <gtsam_unstable/geometry/Event.h>
+#include <iostream>
 
 namespace gtsam {
 
+/* ************************************************************************* */
+void Event::print(const std::string& s) const {
+  std::cout << s << "time = " << time_ << "location = " << location_.transpose();
+}
+
+/* ************************************************************************* */
+bool Event::equals(const Event& other, double tol) const {
+  return std::abs(time_ - other.time_) < tol
+      && traits<Point3>::Equals(location_, other.location_, tol);
+}
+
+/* ************************************************************************* */
+
 } //\ namespace gtsam

gtsam_unstable/geometry/Event.h

@@ -21,6 +21,7 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -59,15 +60,10 @@ public:
   }
 
   /** print with optional string */
-  void print(const std::string& s = "") const {
+  void print(const std::string& s = "") const;
-    std::cout << s << "time = " << time_ << "location = " << location_.transpose();
-  }
 
   /** equals with an tolerance */
-  bool equals(const Event& other, double tol = 1e-9) const {
+  bool equals(const Event& other, double tol = 1e-9) const;
-    return std::abs(time_ - other.time_) < tol
-        && traits<Point3>::Equals(location_, other.location_, tol);
-  }
 
   /// Updates a with tangent space delta
   inline Event retract(const Vector4& v) const {