Fix errors on Windows with VS 2010

gtsam/geometry/EssentialMatrix.h

@@ -20,7 +20,7 @@ namespace gtsam {
  * but here we choose instead to parameterize it as a (Rot3,Unit3) pair.
  * We can then non-linearly optimize immediately on this 5-dimensional manifold.
  */
-class EssentialMatrix: public DerivedValue<EssentialMatrix> {
+class GTSAM_EXPORT EssentialMatrix: public DerivedValue<EssentialMatrix> {
 
 private:
 

gtsam/geometry/Unit3.h

@@ -27,7 +27,7 @@
 namespace gtsam {
 
 /// Represents a 3D point on a unit sphere.
-class Unit3: public DerivedValue<Unit3> {
+class GTSAM_EXPORT Unit3: public DerivedValue<Unit3> {
 
 private:
 

gtsam/geometry/tests/testPoint3.cpp

@@ -81,7 +81,7 @@ TEST( Point3, stream) {
 TEST (Point3, normalize) {
   Matrix actualH;
   Point3 point(1, -2, 3); // arbitrary point
-  Point3 expected(point / sqrt(14));
+  Point3 expected(point / sqrt(14.0));
   EXPECT(assert_equal(expected, point.normalize(actualH), 1e-8));
   Matrix expectedH = numericalDerivative11<Point3, Point3>(
       boost::bind(&Point3::normalize, _1, boost::none), point);

gtsam/geometry/tests/testSphere2.cpp

@@ -43,7 +43,7 @@ Point3 point3_(const Unit3& p) {
 TEST(Unit3, point3) {
   vector<Point3> ps;
   ps += Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1), Point3(1, 1, 0)
-      / sqrt(2);
+      / sqrt(2.0);
   Matrix actualH, expectedH;
   BOOST_FOREACH(Point3 p,ps) {
     Unit3 s(p);

gtsam/navigation/tests/testGeographicLib.cpp

@@ -19,6 +19,7 @@
 #include <GeographicLib/UTMUPS.hpp>
 #include <GeographicLib/LocalCartesian.hpp>
 
+#include <gtsam/base/types.h>
 #include <CppUnitLite/TestHarness.h>
 
 #include <iostream>

gtsam/slam/EssentialMatrixConstraint.h

@@ -27,7 +27,7 @@ namespace gtsam {
  * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
  * @addtogroup SLAM
  */
-class EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
+class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
 
 private: