Resolved several MSVC compiling errors

* The check.base unit tests all pass now. * The gstam_matlab_wrapper class compiles with now errors now. * Note that I had to remove all LieMatrix, LieVector, and LieScalar stuff to get this to work...
borglab · Jul 13, 2019 · 33bda1e · 33bda1e
1 parent 1ca0e33
commit 33bda1e
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Showing 7 changed files with 8 additions and 304 deletions.
diff --git a/gtsam.h b/gtsam.h
@@ -286,99 +286,6 @@ virtual class GenericValue : gtsam::Value {
   void serializable() const;
 };
 
-#include <gtsam/base/deprecated/LieScalar.h>
-class LieScalar {
-  // Standard constructors
-  LieScalar();
-  LieScalar(double d);
-
-  // Standard interface
-  double value() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieScalar& expected, double tol) const;
-
-  // Group
-  static gtsam::LieScalar identity();
-  gtsam::LieScalar inverse() const;
-  gtsam::LieScalar compose(const gtsam::LieScalar& p) const;
-  gtsam::LieScalar between(const gtsam::LieScalar& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieScalar retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieScalar& t2) const;
-
-  // Lie group
-  static gtsam::LieScalar Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieScalar& p);
-};
-
-#include <gtsam/base/deprecated/LieVector.h>
-class LieVector {
-  // Standard constructors
-  LieVector();
-  LieVector(Vector v);
-
-  // Standard interface
-  Vector vector() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieVector& expected, double tol) const;
-
-  // Group
-  static gtsam::LieVector identity();
-  gtsam::LieVector inverse() const;
-  gtsam::LieVector compose(const gtsam::LieVector& p) const;
-  gtsam::LieVector between(const gtsam::LieVector& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieVector retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieVector& t2) const;
-
-  // Lie group
-  static gtsam::LieVector Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieVector& p);
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/base/deprecated/LieMatrix.h>
-class LieMatrix {
-  // Standard constructors
-  LieMatrix();
-  LieMatrix(Matrix v);
-
-  // Standard interface
-  Matrix matrix() const;
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::LieMatrix& expected, double tol) const;
-
-  // Group
-  static gtsam::LieMatrix identity();
-  gtsam::LieMatrix inverse() const;
-  gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
-  gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;
-
-  // Manifold
-  size_t dim() const;
-  gtsam::LieMatrix retract(Vector v) const;
-  Vector localCoordinates(const gtsam::LieMatrix & t2) const;
-
-  // Lie group
-  static gtsam::LieMatrix Expmap(Vector v);
-  static Vector Logmap(const gtsam::LieMatrix& p);
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
 //*************************************************************************
 // geometry
 //*************************************************************************

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
@@ -39,6 +39,12 @@ set (excluded_sources #"")
 
 set (excluded_headers #"")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/LieMatrix.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/LieVector.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/LieScalar.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieMatrix.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieVector.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieScalar.h"
 )
 
 if(GTSAM_USE_QUATERNIONS)
@@ -56,6 +62,7 @@ foreach(subdir ${gtsam_subdirs})
     # Build convenience libraries
     file(GLOB_RECURSE subdir_srcs "${subdir}/*.cpp" "${subdir}/*.h") # Include header files so they show up in Visual Studio
     list(REMOVE_ITEM subdir_srcs ${excluded_sources})
+    list(REMOVE_ITEM subdir_srcs ${excluded_headers})
 	file(GLOB subdir_test_files "${subdir}/tests/*")
 	list(REMOVE_ITEM subdir_srcs ${subdir_test_files}) # Remove test files from sources compiled into library
     gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure

diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
@@ -299,7 +299,7 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
  * @param A is the input matrix, and is the output
  * @param clear_below_diagonal enables zeroing out below diagonal
  */
-void inplace_QR(Matrix& A);
+GTSAM_EXPORT void inplace_QR(Matrix& A);
 
 /**
  * Imperative algorithm for in-place full elimination with

diff --git a/gtsam/base/tests/testLieMatrix.cpp b/gtsam/base/tests/testLieMatrix.cpp
diff --git a/gtsam/base/tests/testLieScalar.cpp b/gtsam/base/tests/testLieScalar.cpp
diff --git a/gtsam/base/tests/testLieVector.cpp b/gtsam/base/tests/testLieVector.cpp
diff --git a/gtsam/base/tests/testTestableAssertions.cpp b/gtsam/base/tests/testTestableAssertions.cpp
@@ -15,20 +15,10 @@
  */
 
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/deprecated/LieScalar.h>
 #include <gtsam/base/TestableAssertions.h>
 
 using namespace gtsam;
 
-/* ************************************************************************* */
-TEST( testTestableAssertions, optional ) {
-  typedef boost::optional<LieScalar> OptionalScalar;
-  LieScalar x(1.0);
-  OptionalScalar ox(x), dummy = boost::none;
-  EXPECT(assert_equal(ox, ox));
-  EXPECT(assert_equal(x, ox));
-  EXPECT(assert_equal(dummy, dummy));
-}
 
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }