Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.

CMakeLists.txt

@@ -83,12 +83,6 @@ if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
     message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
 endif()
 
-# Add the Quaternion Build Flag if requested
-if (GTSAM_USE_QUATERNIONS)
-  set(CMAKE_C_FLAGS            "${CMAKE_C_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
-  set(CMAKE_CXX_FLAGS          "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
-endif(GTSAM_USE_QUATERNIONS)
-
 # Flags to determine whether tests and examples are build during 'make install'
 # Note that these remove the targets from the 'all'
 option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
@@ -141,6 +135,7 @@ include_directories(
   gtsam/3rdparty/UFconfig 
   gtsam/3rdparty/CCOLAMD/Include
   ${CMAKE_SOURCE_DIR}
+  ${CMAKE_BINARY_DIR} # So we can include generated config header files
   CppUnitLite
   ${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})

gtsam/3rdparty/CMakeLists.txt

@@ -2,7 +2,26 @@
 install(FILES CCOLAMD/Include/ccolamd.h DESTINATION include/gtsam/3rdparty/CCOLAMD)
 install(FILES UFconfig/UFconfig.h DESTINATION include/gtsam/3rdparty/UFconfig)
 
-# install Eigen - only the headers
+# Option for using system Eigen or GTSAM-bundled Eigen
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+
+# Switch for using system Eigen or GTSAM-bundled Eigen
+if(GTSAM_USE_SYSTEM_EIGEN)
+	# Use generic Eigen include paths e.g. <Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "")
+	
+	find_package(Eigen3 REQUIRED)
+	include_directories(EIGEN3_INCLUDE_DIR)
+else()
+	# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
+	set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
+	
+	# Clear any variables set by FindEigen3
+	if(EIGEN3_INCLUDE_DIR)
+		set(EIGEN3_INCLUDE_DIR NOTFOUND)
+	endif()
+
+	# install Eigen - only the headers in our 3rdparty directory
 	install(DIRECTORY Eigen/Eigen 
 		DESTINATION include/gtsam/3rdparty/Eigen
 		FILES_MATCHING PATTERN "*.h")
@@ -15,3 +34,7 @@ foreach(eigen_dir ${eigen_dir_headers_all})
 			install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)     
 		endif()
 	endforeach(eigen_dir)
+endif()
+
+# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
+configure_file(gtsam_eigen_includes.h.in gtsam_eigen_includes.h)

gtsam/3rdparty/gtsam_eigen_includes.h.in

@@ -0,0 +1,24 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    gtsam_eigen_includes.h
+ * @brief   File to include the Eigen headers that we use - generated by CMake
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/Dense>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/QR>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/LU>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/SVD>
+#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/Geometry>

gtsam/CMakeLists.txt

@@ -129,6 +129,9 @@ set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp"
 	"SOURCE_TREE_DATASET_DIR=\"${CMAKE_SOURCE_DIR}/examples/Data\""
 	"INSTALLED_DATASET_DIR=\"${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data\"")
 	
+# Generate config file
+configure_file(config.h.in config.h)
+
 # Create the matlab toolbox for the gtsam library
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     # Set up codegen

gtsam/base/DSFVector.h

@@ -23,7 +23,7 @@
 #include <set>
 #include <boost/shared_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 namespace gtsam {
 

gtsam/base/LieScalar.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/dllexport.h>
+#include <gtsam/dllexport.h>
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
 

gtsam/base/Matrix.cpp

@@ -15,15 +15,12 @@
  * @author Christian Potthast
  */
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/FastList.h>
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
-#include <gtsam/3rdparty/Eigen/Eigen/SVD>
-
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
 

gtsam/base/Matrix.h

@@ -23,7 +23,6 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/3rdparty/Eigen/Eigen/QR>
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>

gtsam/base/TestableAssertions.h

@@ -22,7 +22,7 @@
 #include <iostream>
 #include <boost/foreach.hpp>
 #include <boost/optional.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Testable.h>
 
 namespace gtsam {

gtsam/base/Vector.cpp

@@ -29,7 +29,6 @@
 #include <cstdio>
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/types.h>
 
 //#ifdef WIN32
 //#include <Windows.h>

gtsam/base/Vector.h

@@ -23,8 +23,8 @@
 #include <list>
 #include <vector>
 #include <iostream>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
+#include <gtsam/3rdparty/gtsam_eigen_includes.h>
 
 namespace gtsam {
 

gtsam/base/cholesky.cpp

@@ -20,9 +20,6 @@
 #include <gtsam/base/cholesky.h>
 #include <gtsam/base/timing.h>
 
-#include <gtsam/3rdparty/Eigen/Eigen/Core>
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
-
 #include <boost/format.hpp>
 #include <cmath>
 

gtsam/base/debug.h

@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/base/FastMap.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <string>
 
 

gtsam/base/timing.h

@@ -21,7 +21,7 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
 #include <boost/version.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 // Automatically use the new Boost timers if version is recent enough.

gtsam/base/types.h

@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include <gtsam/base/dllexport.h>
+#include <gtsam/dllexport.h>
 
 #include <cstddef>
 

gtsam/config.h.in

@@ -0,0 +1,27 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    config.h
+ * @brief   Settings and paths configured with CMake
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+// Paths to example datasets distributed with GTSAM
+namespace gtsam {
+  static const char* SourceTreeDatasetDir = "@CMAKE_SOURCE_DIR@/examples/Data";
+  static const char* InstalledDatasetDir = "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data";
+}
+
+// Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
+#cmakedefine GTSAM_USE_QUATERNIONS

gtsam/discrete/DiscreteKey.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <map>
 #include <string>

gtsam/discrete/Potentials.h

@@ -19,7 +19,6 @@
 
 #include <gtsam/discrete/AlgebraicDecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/base/types.h>
 #include <gtsam/inference/Permutation.h>
 
 #include <boost/shared_ptr.hpp>

gtsam/geometry/Rot3.h

@@ -21,9 +21,11 @@
 
 #pragma once
 
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
 // You can override the default coordinate mode using this flag
 #ifndef ROT3_DEFAULT_COORDINATES_MODE
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
 // Exponential map is very cheap for quaternions
 #define ROT3_DEFAULT_COORDINATES_MODE Rot3::EXPMAP
 #else
@@ -35,7 +37,6 @@
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/geometry/Point3.h>
-#include <gtsam/3rdparty/Eigen/Eigen/Geometry>
 
 namespace gtsam {
 
@@ -46,7 +47,7 @@ namespace gtsam {
 
   /**
    * @brief A 3D rotation represented as a rotation matrix if the preprocessor
-   * symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it
+   * symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it
    * is defined.
    * @addtogroup geometry
    * \nosubgrouping
@@ -56,7 +57,7 @@ namespace gtsam {
     static const size_t dimension = 3;
 
   private:
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
     /** Internal Eigen Quaternion */
     Quaternion quaternion_;
 #else
@@ -222,18 +223,18 @@ namespace gtsam {
      * exponential map, but this can be expensive to compute. The following Enum is used
      * to indicate which method should be used.  The default
      * is determined by ROT3_DEFAULT_COORDINATES_MODE, which may be set at compile time,
-     * and itself defaults to Rot3::CAYLEY, or if GTSAM_DEFAULT_QUATERNIONS is defined,
+     * and itself defaults to Rot3::CAYLEY, or if GTSAM_USE_QUATERNIONS is defined,
      * to Rot3::EXPMAP.
      */
     enum CoordinatesMode {
       EXPMAP, ///< Use the Lie group exponential map to retract
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
       CAYLEY, ///< Retract and localCoordinates using the Cayley transform.
       SLOW_CAYLEY ///< Slow matrix implementation of Cayley transform (for tests only).
 #endif
       };
 
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
     /// Retraction from R^3 to Rot3 manifold using the Cayley transform
     Rot3 retractCayley(const Vector& omega) const;
 #endif
@@ -362,7 +363,7 @@ namespace gtsam {
     {
        ar & boost::serialization::make_nvp("Rot3",
            boost::serialization::base_object<Value>(*this));
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
        ar & boost::serialization::make_nvp("rot11", rot_(0,0));
        ar & boost::serialization::make_nvp("rot12", rot_(0,1));
        ar & boost::serialization::make_nvp("rot13", rot_(0,2));

gtsam/geometry/Rot3M.cpp

@@ -18,7 +18,9 @@
  * @author  Richard Roberts
  */
 
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
+#ifndef GTSAM_USE_QUATERNIONS
 
 #include <gtsam/geometry/Rot3.h>
 #include <boost/math/constants/constants.hpp>

gtsam/geometry/Rot3Q.cpp

@@ -15,7 +15,9 @@
  * @author  Richard Roberts
  */
 
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
+
+#ifdef GTSAM_USE_QUATERNIONS
 
 #include <boost/math/constants/constants.hpp>
 #include <gtsam/geometry/Rot3.h>

gtsam/geometry/tests/testRot3M.cpp

@@ -26,7 +26,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#ifndef GTSAM_DEFAULT_QUATERNIONS
+#ifndef GTSAM_USE_QUATERNIONS
 
 using namespace std;
 using namespace gtsam;

gtsam/geometry/tests/testRot3Q.cpp

@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3.h>
 
-#ifdef GTSAM_DEFAULT_QUATERNIONS
+#ifdef GTSAM_USE_QUATERNIONS
 
 using namespace gtsam;
 

gtsam/global_includes.h

@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     global_includes.h
+ * @brief    Included from all GTSAM files
+ * @author   Richard Roberts
+ * @addtogroup base
+ */
+
+#pragma once
+
+#include <gtsam/config.h>      // Configuration from CMake
+#include <gtsam/base/types.h>  // Basic types, constants, and compatibility functions
+// types.h includes dllexport.h, which contains macros for dllspec tags for Windows DLLs

gtsam/inference/BayesNet.h

@@ -25,7 +25,7 @@
 #include <boost/assign/list_inserter.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/inference/Permutation.h>
 

gtsam/inference/BayesTree.h

@@ -27,7 +27,7 @@
 #include <boost/make_shared.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/BayesNet.h>

gtsam/inference/BayesTreeCliqueBase.h

@@ -21,7 +21,7 @@
 #include <boost/make_shared.hpp>
 #include <boost/weak_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/BayesNet.h>
 

gtsam/inference/ClusterTree.h

@@ -27,7 +27,7 @@
 #include <boost/weak_ptr.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 namespace gtsam {
 

gtsam/inference/Factor.h

@@ -27,7 +27,7 @@
 #include <boost/foreach.hpp>
 #include <boost/function/function1.hpp>
 #include <boost/lexical_cast.hpp>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 namespace gtsam {

gtsam/inference/GenericSequentialSolver.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/Testable.h>
 
 #include <boost/function.hpp>

gtsam/inference/IndexConditional.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/IndexFactor.h>
 #include <gtsam/inference/Permutation.h>

gtsam/inference/Permutation.h

@@ -23,7 +23,7 @@
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 namespace gtsam {

gtsam/inference/SymbolicFactorGraph.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/IndexFactor.h>
 

gtsam/inference/VariableIndex.h

@@ -23,7 +23,7 @@
 #include <boost/foreach.hpp>
 
 #include <gtsam/base/FastList.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/timing.h>
 
 namespace gtsam {

gtsam/inference/VariableSlots.h

@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastMap.h>
 
 #include <iostream>

gtsam/linear/GaussianBayesNet.h

@@ -20,7 +20,7 @@
 
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/inference/BayesNet.h>
 

gtsam/linear/GaussianConditional.h

@@ -21,7 +21,7 @@
 
 #include <boost/utility.hpp>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/blockMatrices.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/linear/VectorValues.h>

gtsam/linear/GaussianISAM.cpp

@@ -15,7 +15,6 @@
  * @author  Michael Kaess
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/linear/GaussianISAM.h>
 #include <gtsam/linear/GaussianBayesTree.h>
 

gtsam/linear/GaussianMultifrontalSolver.cpp

@@ -15,7 +15,6 @@
  * @date    Oct 21, 2010
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
 
 namespace gtsam {

gtsam/linear/GaussianSequentialSolver.cpp

@@ -15,7 +15,6 @@
  * @date    Oct 19, 2010
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/base/timing.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 

gtsam/linear/JacobianFactor.h

@@ -22,7 +22,7 @@
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/blockMatrices.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <boost/tuple/tuple.hpp>
 

gtsam/linear/VectorValues.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 
 #include <boost/format.hpp>
 #include <boost/lexical_cast.hpp>

gtsam/linear/linearExceptions.h

@@ -17,7 +17,7 @@
  */
 #pragma once
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <boost/lexical_cast.hpp>
 #include <exception>
 

gtsam/nonlinear/Key.h

@@ -20,7 +20,7 @@
 #include <boost/function.hpp>
 #include <string>
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/base/FastVector.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/base/FastSet.h>

gtsam/nonlinear/Marginals.cpp

@@ -16,7 +16,6 @@
  * @date May 14, 2012
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/Dense>
 #include <gtsam/base/timing.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>

gtsam/slam/dataset.cpp

@@ -40,8 +40,8 @@ namespace gtsam {
 string findExampleDataFile(const string& name) {
   // Search source tree and installed location
   vector<string> rootsToSearch;
-  rootsToSearch.push_back(SOURCE_TREE_DATASET_DIR); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
+  rootsToSearch.push_back(SourceTreeDatasetDir); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
-  rootsToSearch.push_back(INSTALLED_DATASET_DIR);   // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
+  rootsToSearch.push_back(InstalledDatasetDir);   // Defined by CMake, see gtsam/gtsam/CMakeLists.txt
 
   // Search for filename as given, and with .graph and .txt extensions
   vector<string> namesToSearch;

gtsam_unstable/base/Dummy.h

@@ -17,7 +17,7 @@
  * @date June 14, 2012
  */
 
-#include <gtsam/base/types.h>
+#include <gtsam/global_includes.h>
 #include <gtsam_unstable/base/dllexport.h>
 #include <string>
 

gtsam_unstable/dynamics/PoseRTV.cpp

@@ -3,8 +3,6 @@
  * @author Alex Cunningham
  */
 
-#include <gtsam/3rdparty/Eigen/Eigen/LU>
-
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Lie-inl.h>