Fixing more compile problems: Switched BayesTree-inst.h function to use a functor struct rather than an address of a template function - seems to compile. Small include fixes elsewhere

gtsam/inference/BayesTree-inst.h

@@ -152,6 +152,16 @@ namespace gtsam {
       fg.push_back(clique->conditional_);
       return 0;
     }
+
+    template<class FACTOR, class CLIQUE>
+    struct _pushCliqueFunctor {
+      _pushCliqueFunctor(FactorGraph<FACTOR>& graph_) : graph(graph_) {}
+      FactorGraph<FACTOR>& graph;
+      int operator()(const boost::shared_ptr<CLIQUE>& clique, int dummy) {
+        graph.push_back(clique->conditional_);
+        return 0;
+      }
+    };
   }
 
   /* ************************************************************************* */
@@ -160,7 +170,9 @@ namespace gtsam {
   {
     // Traverse the BayesTree and add all conditionals to this graph
     int data = 0; // Unused
-    treeTraversal::DepthFirstForest(*this, data, boost::bind(&_pushClique<FactorType,CLIQUE>, boost::ref(graph), _1));
+    _pushCliqueFunctor<FactorType,CLIQUE> functor(graph);
+    treeTraversal::DepthFirstForest(*this, data, functor); // FIXME: sort of works?
+//    treeTraversal::DepthFirstForest(*this, data, boost::bind(&_pushClique<FactorType,CLIQUE>, boost::ref(graph), _1));
   }
 
   /* ************************************************************************* */

gtsam/linear/GaussianConditional.cpp

@@ -118,9 +118,7 @@ namespace gtsam {
     Vector soln = get_R().triangularView<Eigen::Upper>().solve(xS);
 
     // Check for indeterminant solution
-    // FIXME: can't use std::isfinite() as a templated function with gcc
-    if(soln.unaryExpr(!boost::lambda::bind(ptr_fun(isfinite<double>), boost::lambda::_1)).any())
-      throw IndeterminantLinearSystemException(keys().front());
+    if(soln.hasNaN()) throw IndeterminantLinearSystemException(keys().front());
 
     // Insert solution into a VectorValues
     VectorValues result;
@@ -164,9 +162,7 @@ namespace gtsam {
     frontalVec = gtsam::backSubstituteUpper(frontalVec, Matrix(get_R()));
 
     // Check for indeterminant solution
-    // FIXME: can't use isfinite() as a templated function with gcc
-//    if(frontalVec.unaryExpr(!boost::lambda::bind(std::ptr_fun(isfinite<double>), boost::lambda::_1)).any())
-//      throw IndeterminantLinearSystemException(this->keys().front());
+    if (frontalVec.hasNaN()) throw IndeterminantLinearSystemException(this->keys().front());
 
     for (const_iterator it = beginParents(); it!= endParents(); it++)
       gtsam::transposeMultiplyAdd(-1.0, Matrix(getA(it)), frontalVec, gy[*it]);

gtsam/linear/HessianFactor.h

@@ -29,10 +29,17 @@ namespace gtsam {
   // Forward declarations
   class Ordering;
   class JacobianFactor;
+  class HessianFactor;
   class GaussianConditional;
   class GaussianBayesNet;
   class GaussianFactorGraph;
 
+  GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr<GaussianFactor> >
+    EliminatePreferCholesky(const GaussianFactorGraph& factors, const Ordering& keys);
+
+  GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr<HessianFactor> >
+    EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys);
+
   // Definition of Scatter, which is an intermediate data structure used when building a
   // HessianFactor incrementally, to get the keys in the right order. The "scatter" is a map from
   // global variable indices to slot indices in the union of involved variables.  We also include

gtsam/linear/JacobianFactor.h

@@ -35,6 +35,10 @@ namespace gtsam {
   class HessianFactor;
   class VectorValues;
   class Ordering;
+  class JacobianFactor;
+
+  GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr<JacobianFactor> >
+    EliminateQR(const GaussianFactorGraph& factors, const Ordering& keys);
 
   /**
    * A Gaussian factor in the squared-error form.

gtsam/linear/linearExceptions.cpp

@@ -15,10 +15,11 @@
  * @author  Richard Roberts
  * @date    Aug 17, 2012
  */
-#pragma once
 
 #include <gtsam/linear/linearExceptions.h>
 
+#include <boost/format.hpp>
+
 namespace gtsam {
 
   /* ************************************************************************* */

gtsam/nonlinear/Values-inl.h

@@ -26,6 +26,8 @@
 
 #include <utility>
 
+#include <boost/foreach.hpp>
+
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/nonlinear/Values.h> // Only so Eclipse finds class definition
 

gtsam/nonlinear/Values.h

@@ -24,6 +24,7 @@
 
 #pragma once
 
+#include <boost/optional.hpp>
 #include <boost/pool/pool_alloc.hpp>
 #include <boost/ptr_container/ptr_map.hpp>
 #include <boost/iterator/transform_iterator.hpp>