From c78af4d3ea892044567feb7c0b7e20f1cb5a7bc4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 16 Feb 2022 15:08:28 -0500
Subject: [PATCH] Add headers in the place they are needed

---
 examples/SFMExampleExpressions_bal.cpp        |  6 +-
 examples/SFMExample_bal.cpp                   | 10 +--
 examples/SFMExample_bal_COLAMD_METIS.cpp      | 10 +--
 gtsam/base/Value.h                            |  1 +
 gtsam/base/VerticalBlockMatrix.h              |  1 +
 gtsam/base/cholesky.h                         |  1 -
 gtsam/base/tests/testSerializationBase.cpp    |  1 +
 gtsam/geometry/BearingRange.h                 |  1 +
 gtsam/geometry/Cal3DS2.h                      |  1 +
 gtsam/geometry/Cal3DS2_Base.h                 |  1 +
 gtsam/geometry/Cal3Fisheye.h                  |  2 +
 gtsam/geometry/Point3.cpp                     |  1 +
 gtsam/geometry/SOn.h                          |  2 +
 gtsam/geometry/Unit3.h                        |  3 +-
 gtsam/linear/GaussianDensity.cpp              | 61 +++++++++----------
 gtsam/linear/LossFunctions.cpp                |  1 +
 gtsam_unstable/nonlinear/LinearizedFactor.cpp |  1 +
 .../slam/tests/testSerialization.cpp          | 13 ++--
 18 files changed, 67 insertions(+), 50 deletions(-)

diff --git a/examples/SFMExampleExpressions_bal.cpp b/examples/SFMExampleExpressions_bal.cpp
index 3a02e6cab..8a5a12e56 100644
--- a/examples/SFMExampleExpressions_bal.cpp
+++ b/examples/SFMExampleExpressions_bal.cpp
@@ -26,10 +26,12 @@
 #include <gtsam/nonlinear/ExpressionFactorGraph.h>
 
 // Header order is close to far
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/sfm/SfmData.h>  // for loading BAL datasets !
 #include <gtsam/slam/dataset.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/inference/Symbol.h>
+
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;
diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp
index 6944177c1..10563760d 100644
--- a/examples/SFMExample_bal.cpp
+++ b/examples/SFMExample_bal.cpp
@@ -16,12 +16,14 @@
  */
 
 // For an explanation of headers, see SFMExample.cpp
-#include <gtsam/inference/Symbol.h>
+#include <gtsam/sfm/SfmData.h> // for loading BAL datasets !
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/slam/dataset.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/sfm/SfmData.h> // for loading BAL datasets !
-#include <gtsam/slam/dataset.h>
+#include <gtsam/inference/Symbol.h>
+
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;
diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp
index 4d04dd16e..92d779a56 100644
--- a/examples/SFMExample_bal_COLAMD_METIS.cpp
+++ b/examples/SFMExample_bal_COLAMD_METIS.cpp
@@ -17,16 +17,16 @@
  */
 
 // For an explanation of headers, see SFMExample.cpp
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/inference/Ordering.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/sfm/SfmData.h>  // for loading BAL datasets !
 #include <gtsam/slam/dataset.h>
-
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/timing.h>
 
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;
diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
index a19fbe176..697c4f3be 100644
--- a/gtsam/base/Value.h
+++ b/gtsam/base/Value.h
@@ -21,6 +21,7 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
+#include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
 #include <memory>
 
diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h
index 92031db2b..0d8d69df8 100644
--- a/gtsam/base/VerticalBlockMatrix.h
+++ b/gtsam/base/VerticalBlockMatrix.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/MatrixSerialization.h>
 #include <gtsam/base/FastVector.h>
 
 namespace gtsam {
diff --git a/gtsam/base/cholesky.h b/gtsam/base/cholesky.h
index 5e3276ff0..bf7d18a1d 100644
--- a/gtsam/base/cholesky.h
+++ b/gtsam/base/cholesky.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include <gtsam/base/Matrix.h>
-#include <boost/shared_ptr.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/base/tests/testSerializationBase.cpp b/gtsam/base/tests/testSerializationBase.cpp
index d863eaba3..f7aa97b31 100644
--- a/gtsam/base/tests/testSerializationBase.cpp
+++ b/gtsam/base/tests/testSerializationBase.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/inference/Key.h>
 
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/MatrixSerialization.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/base/FastMap.h>
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 8db7abffe..95b0232f0 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -22,6 +22,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <boost/concept/assert.hpp>
+#include <boost/serialization/nvp.hpp>
 #include <iostream>
 
 namespace gtsam {
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index affce0819..039497cc9 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -21,6 +21,7 @@
 #pragma once
 
 #include <gtsam/geometry/Cal3DS2_Base.h>
+#include <boost/shared_ptr.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index b583234fd..1b2291e07 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -21,6 +21,7 @@
 
 #include <gtsam/geometry/Cal3.h>
 #include <gtsam/geometry/Point2.h>
+#include <boost/shared_ptr.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index a8c9fa182..c0caecaa1 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -22,6 +22,8 @@
 #include <gtsam/geometry/Cal3.h>
 #include <gtsam/geometry/Point2.h>
 
+#include <boost/shared_ptr.hpp>
+
 #include <string>
 
 namespace gtsam {
diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp
index a565ac140..ef91108eb 100644
--- a/gtsam/geometry/Point3.cpp
+++ b/gtsam/geometry/Point3.cpp
@@ -17,6 +17,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
 #include <iostream>
+#include <vector>
 
 using namespace std;
 
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index 86b6019e1..3af118134 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -24,6 +24,8 @@
 #include <gtsam/dllexport.h>
 #include <Eigen/Core>
 
+#include <boost/serialization/nvp.hpp>
+
 #include <iostream> // TODO(frank): how to avoid?
 #include <string>
 #include <type_traits>
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 27d41a014..c9a67dbb1 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -23,11 +23,12 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/base/Manifold.h>
+#include <gtsam/base/Vector.h>
+#include <gtsam/base/VectorSerialization.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/dllexport.h>
 
 #include <boost/optional.hpp>
-#include <boost/serialization/nvp.hpp>
 
 #include <random>
 #include <string>
diff --git a/gtsam/linear/GaussianDensity.cpp b/gtsam/linear/GaussianDensity.cpp
index 2f7aa312b..343396c0a 100644
--- a/gtsam/linear/GaussianDensity.cpp
+++ b/gtsam/linear/GaussianDensity.cpp
@@ -17,42 +17,41 @@
  */
 
 #include <gtsam/linear/GaussianDensity.h>
+#include <boost/format.hpp>
+#include <string>
 
-using namespace std;
+using std::cout;
+using std::endl;
+using std::string;
 
 namespace gtsam {
 
-  /* ************************************************************************* */
-  GaussianDensity GaussianDensity::FromMeanAndStddev(Key key,
-                                                     const Vector& mean,
-                                                     double sigma) {
-    return GaussianDensity(key, mean,
-                           Matrix::Identity(mean.size(), mean.size()),
-                           noiseModel::Isotropic::Sigma(mean.size(), sigma));
-  }
+/* ************************************************************************* */
+GaussianDensity GaussianDensity::FromMeanAndStddev(Key key, const Vector& mean,
+                                                   double sigma) {
+  return GaussianDensity(key, mean, Matrix::Identity(mean.size(), mean.size()),
+                         noiseModel::Isotropic::Sigma(mean.size(), sigma));
+}
 
-  /* ************************************************************************* */
-  void GaussianDensity::print(const string &s, const KeyFormatter& formatter) const
-  {
-    cout << s << ": density on ";
-    for(const_iterator it = beginFrontals(); it != endFrontals(); ++it)
-      cout << (boost::format("[%1%]")%(formatter(*it))).str() << " ";
-    cout << endl;
-    gtsam::print(mean(), "mean: ");
-    gtsam::print(covariance(), "covariance: ");
-    if(model_)
-      model_->print("Noise model: ");
-  }
+/* ************************************************************************* */
+void GaussianDensity::print(const string& s,
+                            const KeyFormatter& formatter) const {
+  cout << s << ": density on ";
+  for (const_iterator it = beginFrontals(); it != endFrontals(); ++it)
+    cout << (boost::format("[%1%]") % (formatter(*it))).str() << " ";
+  cout << endl;
+  gtsam::print(mean(), "mean: ");
+  gtsam::print(covariance(), "covariance: ");
+  if (model_) model_->print("Noise model: ");
+}
 
-  /* ************************************************************************* */
-  Vector GaussianDensity::mean() const {
-    VectorValues soln = this->solve(VectorValues());
-    return soln[firstFrontalKey()];
-  }
+/* ************************************************************************* */
+Vector GaussianDensity::mean() const {
+  VectorValues soln = this->solve(VectorValues());
+  return soln[firstFrontalKey()];
+}
 
-  /* ************************************************************************* */
-  Matrix GaussianDensity::covariance() const {
-    return information().inverse();
-  }
+/* ************************************************************************* */
+Matrix GaussianDensity::covariance() const { return information().inverse(); }
 
-} // gtsam
+}  // namespace gtsam
diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp
index bf799a2ba..7307c4a68 100644
--- a/gtsam/linear/LossFunctions.cpp
+++ b/gtsam/linear/LossFunctions.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/linear/LossFunctions.h>
 
 #include <iostream>
+#include <vector>
 
 using namespace std;
 
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp
index 1a86adbfa..0c821b872 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.cpp
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.cpp
@@ -16,6 +16,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/LinearizedFactor.h>
+#include <boost/format.hpp>
 #include <iostream>
 
 namespace gtsam {
diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp
index e9157317e..362cf3778 100644
--- a/gtsam_unstable/slam/tests/testSerialization.cpp
+++ b/gtsam_unstable/slam/tests/testSerialization.cpp
@@ -7,9 +7,6 @@
  * @author Alex Cunningham
  */
 
-#include <CppUnitLite/TestHarness.h>
-#include <iostream>
-
 #include <gtsam_unstable/slam/serialization.h>
 
 #include <gtsam/geometry/Pose2.h>
@@ -18,12 +15,16 @@
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 
-#include <stdlib.h>
-#include <fstream>
-#include <sstream>
+#include <CppUnitLite/TestHarness.h>
+
 #include <boost/assign/std/vector.hpp>
 #include <boost/filesystem.hpp>
 
+#include <iostream>
+#include <cstdlib>
+#include <fstream>
+#include <sstream>
+
 using namespace std;
 using namespace gtsam;
 using namespace boost::assign;