Add headers in the place they are needed

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;

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/inference/Symbol.h>
-#include <gtsam/sfm/SfmData.h> // for loading BAL datasets !
+
-#include <gtsam/slam/dataset.h>
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;

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;

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>
 

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 {

gtsam/base/cholesky.h

@@ -18,7 +18,6 @@
 #pragma once
 
 #include <gtsam/base/Matrix.h>
-#include <boost/shared_ptr.hpp>
 
 namespace gtsam {
 

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>

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 {

gtsam/geometry/Cal3DS2.h

@@ -21,6 +21,7 @@
 #pragma once
 
 #include <gtsam/geometry/Cal3DS2_Base.h>
+#include <boost/shared_ptr.hpp>
 
 namespace gtsam {
 

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 {
 

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 {

gtsam/geometry/Point3.cpp

@@ -17,6 +17,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
 #include <iostream>
+#include <vector>
 
 using namespace std;
 

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>

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>

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,
+GaussianDensity GaussianDensity::FromMeanAndStddev(Key key, const Vector& mean,
-                                                     const Vector& mean,
+                                                   double sigma) {
-                                                     double sigma) {
+  return GaussianDensity(key, mean, Matrix::Identity(mean.size(), mean.size()),
-    return GaussianDensity(key, mean,
+                         noiseModel::Isotropic::Sigma(mean.size(), sigma));
-                           Matrix::Identity(mean.size(), mean.size()),
+}
-                           noiseModel::Isotropic::Sigma(mean.size(), sigma));
-  }
 
-  /* ************************************************************************* */
+/* ************************************************************************* */
-  void GaussianDensity::print(const string &s, const KeyFormatter& formatter) const
+void GaussianDensity::print(const string& s,
-  {
+                            const KeyFormatter& formatter) const {
-    cout << s << ": density on ";
+  cout << s << ": density on ";
-    for(const_iterator it = beginFrontals(); it != endFrontals(); ++it)
+  for (const_iterator it = beginFrontals(); it != endFrontals(); ++it)
-      cout << (boost::format("[%1%]")%(formatter(*it))).str() << " ";
+    cout << (boost::format("[%1%]") % (formatter(*it))).str() << " ";
-    cout << endl;
+  cout << endl;
-    gtsam::print(mean(), "mean: ");
+  gtsam::print(mean(), "mean: ");
-    gtsam::print(covariance(), "covariance: ");
+  gtsam::print(covariance(), "covariance: ");
-    if(model_)
+  if (model_) model_->print("Noise model: ");
-      model_->print("Noise model: ");
+}
-  }
 
-  /* ************************************************************************* */
+/* ************************************************************************* */
-  Vector GaussianDensity::mean() const {
+Vector GaussianDensity::mean() const {
-    VectorValues soln = this->solve(VectorValues());
+  VectorValues soln = this->solve(VectorValues());
-    return soln[firstFrontalKey()];
+  return soln[firstFrontalKey()];
-  }
+}
 
-  /* ************************************************************************* */
+/* ************************************************************************* */
-  Matrix GaussianDensity::covariance() const {
+Matrix GaussianDensity::covariance() const { return information().inverse(); }
-    return information().inverse();
-  }
 
-} // gtsam
+}  // namespace gtsam

gtsam/linear/LossFunctions.cpp

@@ -19,6 +19,7 @@
 #include <gtsam/linear/LossFunctions.h>
 
 #include <iostream>
+#include <vector>
 
 using namespace std;
 

gtsam_unstable/nonlinear/LinearizedFactor.cpp

@@ -16,6 +16,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/LinearizedFactor.h>
+#include <boost/format.hpp>
 #include <iostream>
 
 namespace gtsam {

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 <CppUnitLite/TestHarness.h>
-#include <fstream>
+
-#include <sstream>
 #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;