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More GTSAM_EXPORT fixes. This allows gtsam_unstable to compile

release/4.3a0
Clark Taylor 2019-07-14 00:14:16 -04:00
parent 44faca1b1c
commit ffb3043284
3 changed files with 37 additions and 37 deletions
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16
gtsam/geometry/Point2.h
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@ -37,7 +37,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Point2 : public Vector2 { class Point2 : public Vector2 {
private: private:
public: public:
@ -66,10 +66,10 @@ public:
/// @{ /// @{
/// print with optional string /// print with optional string
void print(const std::string& s = "") const; GTSAM_EXPORT void print(const std::string& s = "") const;
/// equals with an tolerance, prints out message if unequal /// equals with an tolerance, prints out message if unequal
bool equals(const Point2& q, double tol = 1e-9) const; GTSAM_EXPORT bool equals(const Point2& q, double tol = 1e-9) const;
/// @} /// @}
/// @name Group /// @name Group
@ -86,10 +86,10 @@ public:
Point2 unit() const { return *this/norm(); } Point2 unit() const { return *this/norm(); }
/** norm of point, with derivative */ /** norm of point, with derivative */
double norm(OptionalJacobian<1,2> H = boost::none) const; GTSAM_EXPORT double norm(OptionalJacobian<1,2> H = boost::none) const;
/** distance between two points */ /** distance between two points */
double distance(const Point2& p2, OptionalJacobian<1,2> H1 = boost::none, GTSAM_EXPORT double distance(const Point2& p2, OptionalJacobian<1,2> H1 = boost::none,
OptionalJacobian<1,2> H2 = boost::none) const; OptionalJacobian<1,2> H2 = boost::none) const;
/// @} /// @}
@ -124,9 +124,9 @@ public:
static Vector2 Logmap(const Point2& p) { return p;} static Vector2 Logmap(const Point2& p) { return p;}
static Point2 Expmap(const Vector2& v) { return Point2(v);} static Point2 Expmap(const Vector2& v) { return Point2(v);}
inline double dist(const Point2& p2) const {return distance(p2);} inline double dist(const Point2& p2) const {return distance(p2);}
static boost::optional<Point2> CircleCircleIntersection(double R_d, double r_d, double tol = 1e-9); GTSAM_EXPORT static boost::optional<Point2> CircleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
static std::list<Point2> CircleCircleIntersection(Point2 c1, Point2 c2, boost::optional<Point2> fh); GTSAM_EXPORT static std::list<Point2> CircleCircleIntersection(Point2 c1, Point2 c2, boost::optional<Point2> fh);
static std::list<Point2> CircleCircleIntersection(Point2 c1, double r1, Point2 c2, double r2, double tol = 1e-9); GTSAM_EXPORT static std::list<Point2> CircleCircleIntersection(Point2 c1, double r1, Point2 c2, double r2, double tol = 1e-9);
/// @} /// @}
#endif #endif

20
gtsam/geometry/Point3.h
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@ -42,7 +42,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Point3 : public Vector3 { class Point3 : public Vector3 {
public: public:
@ -63,10 +63,10 @@ class GTSAM_EXPORT Point3 : public Vector3 {
/// @{ /// @{
/** print with optional string */ /** print with optional string */
void print(const std::string& s = "") const; GTSAM_EXPORT void print(const std::string& s = "") const;
/** equals with an tolerance */ /** equals with an tolerance */
bool equals(const Point3& p, double tol = 1e-9) const; GTSAM_EXPORT bool equals(const Point3& p, double tol = 1e-9) const;
/// @} /// @}
/// @name Group /// @name Group
@ -80,21 +80,21 @@ class GTSAM_EXPORT Point3 : public Vector3 {
/// @{ /// @{
/** distance between two points */ /** distance between two points */
double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none, GTSAM_EXPORT double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none) const; OptionalJacobian<1, 3> H2 = boost::none) const;
/** Distance of the point from the origin, with Jacobian */ /** Distance of the point from the origin, with Jacobian */
double norm(OptionalJacobian<1,3> H = boost::none) const; GTSAM_EXPORT double norm(OptionalJacobian<1,3> H = boost::none) const;
/** normalize, with optional Jacobian */ /** normalize, with optional Jacobian */
Point3 normalized(OptionalJacobian<3, 3> H = boost::none) const; GTSAM_EXPORT Point3 normalized(OptionalJacobian<3, 3> H = boost::none) const;
/** cross product @return this x q */ /** cross product @return this x q */
Point3 cross(const Point3 &q, OptionalJacobian<3, 3> H_p = boost::none, // GTSAM_EXPORT Point3 cross(const Point3 &q, OptionalJacobian<3, 3> H_p = boost::none, //
OptionalJacobian<3, 3> H_q = boost::none) const; OptionalJacobian<3, 3> H_q = boost::none) const;
/** dot product @return this * q*/ /** dot product @return this * q*/
double dot(const Point3 &q, OptionalJacobian<1, 3> H_p = boost::none, // GTSAM_EXPORT double dot(const Point3 &q, OptionalJacobian<1, 3> H_p = boost::none, //
OptionalJacobian<1, 3> H_q = boost::none) const; OptionalJacobian<1, 3> H_q = boost::none) const;
/// @} /// @}
@ -130,9 +130,9 @@ class GTSAM_EXPORT Point3 : public Vector3 {
static Point3 Expmap(const Vector3& v) { return Point3(v);} static Point3 Expmap(const Vector3& v) { return Point3(v);}
inline double dist(const Point3& q) const { return (q - *this).norm(); } inline double dist(const Point3& q) const { return (q - *this).norm(); }
Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const { return normalized(H);} Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const { return normalized(H);}
Point3 add(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none, GTSAM_EXPORT Point3 add(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) const; OptionalJacobian<3, 3> H2 = boost::none) const;
Point3 sub(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none, GTSAM_EXPORT Point3 sub(const Point3& q, OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) const; OptionalJacobian<3, 3> H2 = boost::none) const;
/// @} /// @}
#endif #endif

38
gtsam/geometry/Pose2.h
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@ -33,7 +33,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> { class Pose2: public LieGroup<Pose2, 3> {
public: public:
@ -97,10 +97,10 @@ public:
/// @{ /// @{
/** print with optional string */ /** print with optional string */
void print(const std::string& s = "") const; GTSAM_EXPORT void print(const std::string& s = "") const;
/** assert equality up to a tolerance */ /** assert equality up to a tolerance */
bool equals(const Pose2& pose, double tol = 1e-9) const; GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
/// @} /// @}
/// @name Group /// @name Group
@ -110,7 +110,7 @@ public:
inline static Pose2 identity() { return Pose2(); } inline static Pose2 identity() { return Pose2(); }
/// inverse /// inverse
Pose2 inverse() const; GTSAM_EXPORT Pose2 inverse() const;
/// compose syntactic sugar /// compose syntactic sugar
inline Pose2 operator*(const Pose2& p2) const { inline Pose2 operator*(const Pose2& p2) const {
@ -122,16 +122,16 @@ public:
/// @{ /// @{
///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$ ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
static Pose2 Expmap(const Vector3& xi, ChartJacobian H = boost::none); GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = boost::none);
///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
static Vector3 Logmap(const Pose2& p, ChartJacobian H = boost::none); GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = boost::none);
/** /**
* Calculate Adjoint map * Calculate Adjoint map
* Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi) * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
*/ */
Matrix3 AdjointMap() const; GTSAM_EXPORT Matrix3 AdjointMap() const;
/// Apply AdjointMap to twist xi /// Apply AdjointMap to twist xi
inline Vector3 Adjoint(const Vector3& xi) const { inline Vector3 Adjoint(const Vector3& xi) const {
@ -141,7 +141,7 @@ public:
/** /**
* Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19 * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
*/ */
static Matrix3 adjointMap(const Vector3& v); GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
/** /**
* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@ -177,15 +177,15 @@ public:
} }
/// Derivative of Expmap /// Derivative of Expmap
static Matrix3 ExpmapDerivative(const Vector3& v); GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
/// Derivative of Logmap /// Derivative of Logmap
static Matrix3 LogmapDerivative(const Pose2& v); GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
// Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
struct ChartAtOrigin { struct ChartAtOrigin {
static Pose2 Retract(const Vector3& v, ChartJacobian H = boost::none); GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = boost::none);
static Vector3 Local(const Pose2& r, ChartJacobian H = boost::none); GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = boost::none);
}; };
using LieGroup<Pose2, 3>::inverse; // version with derivative using LieGroup<Pose2, 3>::inverse; // version with derivative
@ -195,12 +195,12 @@ public:
/// @{ /// @{
/** Return point coordinates in pose coordinate frame */ /** Return point coordinates in pose coordinate frame */
Point2 transformTo(const Point2& point, GTSAM_EXPORT Point2 transformTo(const Point2& point,
OptionalJacobian<2, 3> Dpose = boost::none, OptionalJacobian<2, 3> Dpose = boost::none,
OptionalJacobian<2, 2> Dpoint = boost::none) const; OptionalJacobian<2, 2> Dpoint = boost::none) const;
/** Return point coordinates in global frame */ /** Return point coordinates in global frame */
Point2 transformFrom(const Point2& point, GTSAM_EXPORT Point2 transformFrom(const Point2& point,
OptionalJacobian<2, 3> Dpose = boost::none, OptionalJacobian<2, 3> Dpose = boost::none,
OptionalJacobian<2, 2> Dpoint = boost::none) const; OptionalJacobian<2, 2> Dpoint = boost::none) const;
@ -233,14 +233,14 @@ public:
inline const Rot2& rotation() const { return r_; } inline const Rot2& rotation() const { return r_; }
//// return transformation matrix //// return transformation matrix
Matrix3 matrix() const; GTSAM_EXPORT Matrix3 matrix() const;
/** /**
* Calculate bearing to a landmark * Calculate bearing to a landmark
* @param point 2D location of landmark * @param point 2D location of landmark
* @return 2D rotation \f$ \in SO(2) \f$ * @return 2D rotation \f$ \in SO(2) \f$
*/ */
Rot2 bearing(const Point2& point, GTSAM_EXPORT Rot2 bearing(const Point2& point,
OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 2> H2=boost::none) const; OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 2> H2=boost::none) const;
/** /**
@ -248,7 +248,7 @@ public:
* @param point SO(2) location of other pose * @param point SO(2) location of other pose
* @return 2D rotation \f$ \in SO(2) \f$ * @return 2D rotation \f$ \in SO(2) \f$
*/ */
Rot2 bearing(const Pose2& pose, GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 3> H2=boost::none) const; OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 3> H2=boost::none) const;
/** /**
@ -256,7 +256,7 @@ public:
* @param point 2D location of landmark * @param point 2D location of landmark
* @return range (double) * @return range (double)
*/ */
double range(const Point2& point, GTSAM_EXPORT double range(const Point2& point,
OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 3> H1=boost::none,
OptionalJacobian<1, 2> H2=boost::none) const; OptionalJacobian<1, 2> H2=boost::none) const;
@ -265,7 +265,7 @@ public:
* @param point 2D location of other pose * @param point 2D location of other pose
* @return range (double) * @return range (double)
*/ */
double range(const Pose2& point, GTSAM_EXPORT double range(const Pose2& point,
OptionalJacobian<1, 3> H1=boost::none, OptionalJacobian<1, 3> H1=boost::none,
OptionalJacobian<1, 3> H2=boost::none) const; OptionalJacobian<1, 3> H2=boost::none) const;