fixed paths to move Event from unstable

gtsam/geometry/geometry.i

@@ -213,7 +213,7 @@ namespace so3 {
     ExpmapFunctor(const gtsam::Vector3& axis, double angle);
     gtsam::Matrix3 expmap() const;
   };
-  
+
   virtual class DexpFunctor : gtsam::so3::ExpmapFunctor {
     const gtsam::Vector3 omega;
     const double C;  // (1 - A) / theta^2
@@ -228,7 +228,7 @@ namespace so3 {
     gtsam::Vector3 applyRightJacobianInverse(const gtsam::Vector3& v) const;
     gtsam::Vector3 applyLeftJacobian(const gtsam::Vector3& v) const;
     gtsam::Vector3 applyLeftJacobianInverse(const gtsam::Vector3& v) const;
-  };  
+  };
 }
 
 class SO3 {
@@ -427,7 +427,7 @@ class Rot3 {
                       Eigen::Ref<Eigen::MatrixXd> HR,
                       Eigen::Ref<Eigen::MatrixXd> Hp) const;
   gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
-  
+
   // Standard Interface
   gtsam::Matrix matrix() const;
   gtsam::Matrix transpose() const;
@@ -522,7 +522,7 @@ class Pose2 {
   // enabling serialization functionality
   void serialize() const;
 };
-  
+
 #include <gtsam/geometry/Pose3.h>
 class Pose3 {
   // Standard Constructors
@@ -573,12 +573,12 @@ class Pose3 {
   static gtsam::Matrix6 LogmapDerivative(const gtsam::Pose3& xi);
   static gtsam::Pose3 Expmap(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> Hxi);
   static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
-  
+
   gtsam::Pose3 expmap(gtsam::Vector v);
   gtsam::Pose3 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
   gtsam::Vector logmap(const gtsam::Pose3& p);
   gtsam::Vector logmap(const gtsam::Pose3& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
-  
+
   gtsam::Matrix AdjointMap() const;
   gtsam::Vector Adjoint(gtsam::Vector xi_b) const;
   gtsam::Vector Adjoint(gtsam::Vector xi_b, Eigen::Ref<Eigen::MatrixXd> H_this,
@@ -718,7 +718,7 @@ class OrientedPlane3 {
 
   static size_t Dim();
   size_t dim() const;
-  
+
   gtsam::OrientedPlane3 retract(const gtsam::Vector3& v) const;
   gtsam::OrientedPlane3 retract(const gtsam::Vector3& v,
                         Eigen::Ref<Eigen::MatrixXd> H) const;
@@ -1491,7 +1491,7 @@ gtsam::TriangulationResult triangulateSafe(
     const gtsam::Point2Vector& measurements,
     const gtsam::TriangulationParameters& params);
 
-// Cal3Unified versions                                
+// Cal3Unified versions
 gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
                                 gtsam::Cal3Unified* sharedCal,
                                 const gtsam::Point2Vector& measurements,
@@ -1514,7 +1514,17 @@ gtsam::TriangulationResult triangulateSafe(
     const gtsam::Point2Vector& measurements,
     const gtsam::TriangulationParameters& params);
 
-
+#include <gtsam_unstable/geometry/Event.h>
+class Event {
+  Event();
+  Event(double t, const gtsam::Point3& p);
+  Event(double t, double x, double y, double z);
+  double time() const;
+  gtsam::Point3 location() const;
+  TimeOfArrival();
+  TimeOfArrival(double speed);
+  double measure(const gtsam::Event& event, const gtsam::Point3& sensor) const;
+};
 
 #include <gtsam/geometry/BearingRange.h>
 template <POSE, POINT, BEARING, RANGE>

gtsam_unstable/examples/TimeOfArrivalExample.cpp

@@ -21,7 +21,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/expressions.h>
-#include <gtsam_unstable/geometry/Event.h>
+#include <gtsam/geometry/Event.h>
 #include <gtsam_unstable/slam/TOAFactor.h>
 
 #include <vector>

gtsam_unstable/gtsam_unstable.i

@@ -162,7 +162,7 @@ class BearingS2 {
   void serializable() const; // enabling serialization functionality
 };
 
-  
+
 #include <gtsam_unstable/geometry/SimWall2D.h>
 class SimWall2D {
   SimWall2D();
@@ -379,22 +379,11 @@ virtual class RangeFactor : gtsam::NoiseModelFactor {
 
 typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> RangeFactorRTV;
 
-#include <gtsam_unstable/geometry/Event.h>
-class Event {
-  Event();
-  Event(double t, const gtsam::Point3& p);
-  Event(double t, double x, double y, double z);
-  double time() const;
-  gtsam::Point3 location() const;
   double height() const;
   void print(string s) const;
 };
 
 class TimeOfArrival {
-  TimeOfArrival();
-  TimeOfArrival(double speed);
-  double measure(const gtsam::Event& event, const gtsam::Point3& sensor) const;
-};
 
 #include <gtsam_unstable/slam/TOAFactor.h>
 virtual class TOAFactor : gtsam::NonlinearFactor {

gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h

@@ -11,11 +11,11 @@
 
 #pragma once
 
-#ifdef _MSC_VER
+// #ifdef _MSC_VER
-#pragma message("IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory")
+// #pragma message("IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory")
-#else
+// #else
-#warning "IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory"
+// #warning "IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory"
-#endif
+// #endif
 
 
-#include <gtsam/nonlinear/IncrementalFixedLagSmoother.h>
+#include <gtsam/nonlinear/IncrementalFixedLagSmoother.h>

gtsam_unstable/slam/TOAFactor.h

@@ -20,7 +20,7 @@
 #pragma once
 
 #include <gtsam/nonlinear/ExpressionFactor.h>
-#include <gtsam_unstable/geometry/Event.h>
+#include <gtsam/geometry/Event.h>
 
 namespace gtsam {
 

gtsam_unstable/slam/tests/testTOAFactor.cpp

@@ -21,7 +21,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/expressions.h>
-#include <gtsam_unstable/geometry/Event.h>
+#include <gtsam/geometry/Event.h>
 #include <gtsam_unstable/slam/TOAFactor.h>
 
 #include <CppUnitLite/TestHarness.h>

python/gtsam_unstable/examples/TimeOfArrivalExample.py

@@ -12,8 +12,8 @@ Author: Frank Dellaert
 # pylint: disable=invalid-name, no-name-in-module
 
 from gtsam import (LevenbergMarquardtOptimizer, LevenbergMarquardtParams,
-                   NonlinearFactorGraph, Point3, Values, noiseModel)
+                   NonlinearFactorGraph, Point3, Values, noiseModel, Event)
-from gtsam_unstable import Event, TimeOfArrival, TOAFactor
+from gtsam_unstable import TimeOfArrival, TOAFactor
 
 # units
 MS = 1e-3