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

@@ -28,6 +28,7 @@
 #include <cmath>
 #include <iosfwd>
 #include <typeinfo> // operator typeid
+#include <iostream>
 
 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.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/geometry/Cal3_S2.h>
+#include <iostream>
 
 namespace gtsam {
 

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.h

@@ -24,6 +24,7 @@
 #include <gtsam/base/Lie.h>
 
 #include <cmath>
+#include <iostream>
 
 namespace gtsam {
 

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;
-  if (!variableSlots) {
-    computedVariableSlots = VariableSlots(graph);
-    variableSlots = computedVariableSlots; // Binds reference, does not copy VariableSlots
-  }
+  // Binds reference, does not copy VariableSlots
+  const VariableSlots & variableSlots =
+      p_variableSlots ? p_variableSlots.get() : VariableSlots(graph);
 
   // 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();
-        item != variableSlots->end(); ++item) {
+    for (VariableSlots::const_iterator item = variableSlots.begin();
+        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();
-        item != variableSlots->end(); ++item)
+    for (VariableSlots::const_iterator item = variableSlots.begin();
+        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.h

@@ -21,6 +21,7 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
+#include <iostream>
 
 namespace gtsam {