12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fixed dllexport issues in geometry, only tests failing

release/4.3a0
Varun Agrawal 2022-02-17 11:14:09 -05:00
parent 1e1e2c26ee
commit fcd418a673
3 changed files with 24 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/geometry/SOn.cpp
View File

@ -22,7 +22,7 @@
namespace gtsam {
template <>
GTSAM_EXPORT void SOn::Hat(const Vector &xi, Eigen::Ref<Matrix> X) {
void SOn::Hat(const Vector &xi, Eigen::Ref<Matrix> X) {
size_t n = AmbientDim(xi.size());
if (n < 2)
throw std::invalid_argument("SO<N>::Hat: n<2 not supported");
@ -48,7 +48,7 @@ GTSAM_EXPORT void SOn::Hat(const Vector &xi, Eigen::Ref<Matrix> X) {
}
}
template <> GTSAM_EXPORT Matrix SOn::Hat(const Vector &xi) {
template <> Matrix SOn::Hat(const Vector &xi) {
size_t n = AmbientDim(xi.size());
Matrix X(n, n); // allocate space for n*n skew-symmetric matrix
SOn::Hat(xi, X);
@ -56,7 +56,6 @@ template <> GTSAM_EXPORT Matrix SOn::Hat(const Vector &xi) {
}
template <>
GTSAM_EXPORT
Vector SOn::Vee(const Matrix& X) {
const size_t n = X.rows();
if (n < 2) throw std::invalid_argument("SO<N>::Hat: n<2 not supported");
@ -104,7 +103,9 @@ SOn LieGroup<SOn, Eigen::Dynamic>::between(const SOn& g, DynamicJacobian H1,
}
// Dynamic version of vec
template <> typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const {
template <>
typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const
{
const size_t n = rows(), n2 = n * n;
// Vectorize

6
gtsam/geometry/SOn.h
View File

@ -358,17 +358,21 @@ Vector SOn::Vee(const Matrix& X);
using DynamicJacobian = OptionalJacobian<Eigen::Dynamic, Eigen::Dynamic>;
template <>
GTSAM_EXPORT
SOn LieGroup<SOn, Eigen::Dynamic>::compose(const SOn& g, DynamicJacobian H1,
DynamicJacobian H2) const;
template <>
GTSAM_EXPORT
SOn LieGroup<SOn, Eigen::Dynamic>::between(const SOn& g, DynamicJacobian H1,
DynamicJacobian H2) const;
/*
* Specialize dynamic vec.
*/
template <> typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const;
template <>
GTSAM_EXPORT
typename SOn::VectorN2 SOn::vec(DynamicJacobian H) const;
/** Serialization function */
template<class Archive>

28
gtsam/geometry/Unit3.h
View File

@ -40,7 +40,7 @@
namespace gtsam {
/// Represents a 3D point on a unit sphere.
class Unit3 {
class GTSAM_EXPORT Unit3 {
private:
@ -97,7 +97,7 @@ public:
}
/// Named constructor from Point3 with optional Jacobian
GTSAM_EXPORT static Unit3 FromPoint3(const Point3& point, //
static Unit3 FromPoint3(const Point3& point, //
OptionalJacobian<2, 3> H = boost::none);
/**
@ -106,7 +106,7 @@ public:
* std::mt19937 engine(42);
* Unit3 unit = Unit3::Random(engine);
*/
GTSAM_EXPORT static Unit3 Random(std::mt19937 & rng);
static Unit3 Random(std::mt19937 & rng);
/// @}
@ -116,7 +116,7 @@ public:
friend std::ostream& operator<<(std::ostream& os, const Unit3& pair);
/// The print fuction
GTSAM_EXPORT void print(const std::string& s = std::string()) const;
void print(const std::string& s = std::string()) const;
/// The equals function with tolerance
bool equals(const Unit3& s, double tol = 1e-9) const {
@ -133,16 +133,16 @@ public:
* tangent to the sphere at the current direction.
* Provides derivatives of the basis with the two basis vectors stacked up as a 6x1.
*/
GTSAM_EXPORT const Matrix32& basis(OptionalJacobian<6, 2> H = boost::none) const;
const Matrix32& basis(OptionalJacobian<6, 2> H = boost::none) const;
/// Return skew-symmetric associated with 3D point on unit sphere
GTSAM_EXPORT Matrix3 skew() const;
Matrix3 skew() const;
/// Return unit-norm Point3
GTSAM_EXPORT Point3 point3(OptionalJacobian<3, 2> H = boost::none) const;
Point3 point3(OptionalJacobian<3, 2> H = boost::none) const;
/// Return unit-norm Vector
GTSAM_EXPORT Vector3 unitVector(OptionalJacobian<3, 2> H = boost::none) const;
Vector3 unitVector(OptionalJacobian<3, 2> H = boost::none) const;
/// Return scaled direction as Point3
friend Point3 operator*(double s, const Unit3& d) {
@ -150,20 +150,20 @@ public:
}
/// Return dot product with q
GTSAM_EXPORT double dot(const Unit3& q, OptionalJacobian<1,2> H1 = boost::none, //
double dot(const Unit3& q, OptionalJacobian<1,2> H1 = boost::none, //
OptionalJacobian<1,2> H2 = boost::none) const;
/// Signed, vector-valued error between two directions
/// @deprecated, errorVector has the proper derivatives, this confusingly has only the second.
GTSAM_EXPORT Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H_q = boost::none) const;
Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H_q = boost::none) const;
/// Signed, vector-valued error between two directions
/// NOTE(hayk): This method has zero derivatives if this (p) and q are orthogonal.
GTSAM_EXPORT Vector2 errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p = boost::none, //
Vector2 errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p = boost::none, //
OptionalJacobian<2, 2> H_q = boost::none) const;
/// Distance between two directions
GTSAM_EXPORT double distance(const Unit3& q, OptionalJacobian<1, 2> H = boost::none) const;
double distance(const Unit3& q, OptionalJacobian<1, 2> H = boost::none) const;
/// Cross-product between two Unit3s
Unit3 cross(const Unit3& q) const {
@ -196,10 +196,10 @@ public:
};
/// The retract function
GTSAM_EXPORT Unit3 retract(const Vector2& v, OptionalJacobian<2,2> H = boost::none) const;
Unit3 retract(const Vector2& v, OptionalJacobian<2,2> H = boost::none) const;
/// The local coordinates function
GTSAM_EXPORT Vector2 localCoordinates(const Unit3& s) const;
Vector2 localCoordinates(const Unit3& s) const;
/// @}