borglab · dellaert · Jun 15, 2019 · Jun 13, 2019 · Jun 13, 2019 · Jun 13, 2019
diff --git a/.github/ISSUE_TEMPLATE/bug-report.md b/.github/ISSUE_TEMPLATE/bug-report.md
@@ -0,0 +1,35 @@
+---
+name: "Bug Report"
+about: Submit a bug report to help us improve GTSAM
+---
+
+<!--Please only submit issues/bug reports that come with enough information to reproduce them, ideally a unit test that fails, and possible ideas on what might be wrong. -->
+
+<!-- Even better yet, fix the bug and/or documentation, add a unit test, and create a pull request! -->
+
+<!-- This is a channel to report bugs/issues, not a support channel to help install/use/debug your own code. We'd love to help, but just don't have the bandwidth. Please post questions in the GTSAM Google group (https://groups.google.com/forum/#!forum/gtsam-users) -->
+
+## Description
+
+<!-- A clear description of the bug -->
+
+## Steps to reproduce
+
+1. 
+2.
+
+<!-- If you have a code sample, unit test, error messages, stack traces, etc., please provide it here as well -->
+
+## Expected behavior
+
+<!-- A clear and concise description of what you expected to happen. -->
+
+## Environment
+
+<!-- Please provide information about your code environment, things such as OS, language of use (C++, Matlab or Python), version of dependent libraries if using a custom build etc., anything to provide us more information. -->
+
+<!-- The more the information, the faster we can help resolve the issue -->
+
+## Additional information
+
+<!-- Add any other infor or context about the problem here. -->
diff --git a/.github/ISSUE_TEMPLATE/feature-request.md b/.github/ISSUE_TEMPLATE/feature-request.md
@@ -0,0 +1,24 @@
+---
+name: "Feature Request"
+about: Submit a proposal/request for a new GTSAM feature
+---
+
+## Feature
+
+<!-- A clear and concise description of the feature proposal -->
+
+## Motivation
+
+<!-- Please outline the motivation for the proposal. Is your feature request related to a problem? e.g., I'm always frustrated when [...]. If this is related to another GitHub issue, please link here too. -->
+
+## Pitch
+
+<!-- A clear and concise description of what you want to happen. -->
+
+## Alternatives
+
+<!-- A clear and concise description of any alternative solutions or features you've considered, if any. -->
+
+## Additional context
+
+<!-- Add any other context or screenshots about the feature request here. -->
diff --git a/.github/ISSUE_TEMPLATE/questions-help-support.md b/.github/ISSUE_TEMPLATE/questions-help-support.md
@@ -0,0 +1,5 @@
+---
+name: "Questions/Help/Support"
+---
+
+Please post questions and support requests in the [GTSAM Google group](https://groups.google.com/forum/#!forum/gtsam-users) and not on Github.
diff --git a/DEVELOP b/DEVELOP
diff --git a/DEVELOP.md b/DEVELOP.md
@@ -0,0 +1,19 @@
+# Information for Developers
+
+### Coding Conventions
+
+* Classes are Uppercase, methods and functions lowerMixedCase.
+* We use a modified K&R Style, with 2-space tabs, inserting spaces for tabs.
+* Use meaningful variable names, e.g. `measurement` not `msm`.
+
+
+### Windows
+
+On Windows it is necessary to explicitly export all functions from the library which should be externally accessible. To do this, include the macro `GTSAM_EXPORT` in your class or function definition.
+
+For example:
+```cpp
+class GTSAM_EXPORT MyClass { ... };
+
+GTSAM_EXPORT myFunction();
+```
diff --git a/THANKS → THANKS.md b/THANKS → THANKS.md
diff --git a/USAGE.md b/USAGE.md
@@ -1,48 +1,42 @@
-USAGE - Georgia Tech Smoothing and Mapping library
-===================================
-What is this file?
+# GTSAM USAGE
 
-	This file explains how to make use of the library for common SLAM tasks, 
-	using a visual SLAM implementation as an example.
-
+This file explains how to make use of the library for common SLAM tasks, using a visual SLAM implementation as an example.
+
+## Getting Started
+
+### Install
 
-Getting Started
----------------------------------------------------
-Install:
-	Follow the installation instructions in the README file to build and 
-	install gtsam, as well as running tests to ensure the library is working
-	properly.
-
-Compiling/Linking with gtsam:
-  	The installation creates a binary "libgtsam" at the installation prefix,
-  	and an include folder "gtsam".  These are the only required includes, but 
-  	the library has also been designed to make use of XML serialization through
-  	the Boost.serialization library, which requires the the Boost.serialization
-  	headers and binaries to be linked.  
-
-  	If you use CMake for your project, you can use the CMake scripts in the 
-  	cmake folder for finding GTSAM, CppUnitLite, and Wrap.  
-
-Examples:
-	To see how the library works, examine the unit tests provided.  
+Follow the installation instructions in the README file to build and install gtsam, as well as running tests to ensure the library is working properly.
+
+### Compiling/Linking with GTSAM
+
+The installation creates a binary `libgtsam` at the installation prefix, and an include folder `gtsam`.  These are the only required includes, but the library has also been designed to make use of XML serialization through the `Boost.serialization` library, which requires the the Boost.serialization headers and binaries to be linked.  
+
+If you use CMake for your project, you can use the CMake scripts in the cmake folder for finding `GTSAM`, `CppUnitLite`, and `Wrap`.  
+
+### Examples
+
+To see how the library works, examine the unit tests provided.  
 
+## Overview
+
+The GTSAM library has three primary components necessary for the construction of factor graph representation and optimization which users will need to adapt to their particular problem.  
+
+* FactorGraph
+
+	A factor graph contains a set of variables to solve for (i.e., robot poses, landmark poses, etc.) and a set of constraints between these variables, which make up factors.
+
+* Values:
+
+	Values is a single object containing labeled values for all of the variables.  Currently, all variables are labeled with strings, but the type or organization of the variables can change.
+
+* Factors
 
-Overview
----------------------------------------------------
-The GTSAM library has three primary components necessary for the construction
-of factor graph representation and optimization which users will need to 
-adapt to their particular problem.  
-
-* FactorGraph:
-	A factor graph contains a set of variables to solve for (i.e., robot poses, landmark poses, etc.) and a set of constraints between these variables, which make up factors.  
-* Values: 
-	Values is a single object containing labeled values for all of the variables.  Currently, all variables are labeled with strings, but the type or organization of the variables can change
-* Factors:
 	A nonlinear factor expresses a constraint between variables, which in the SLAM example, is a measurement such as a visual reading on a landmark or odometry.
 
 The library is organized according to the following directory structure:
 
-    3rdparty      local copies of third party libraries - Eigen3 and CCOLAMD
+    3rdparty      local copies of third party libraries e.g. Eigen3 and CCOLAMD
     base          provides some base Math and data structures, as well as test-related utilities
     geometry      points, poses, tensors, etc
     inference     core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees 

diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
diff --git a/cmake/README.md b/cmake/README.md
@@ -1,14 +1,12 @@
-GTSAMCMakeTools
-===============
+# GTSAMCMakeTools
 
 This is the collection of GTSAM CMake tools that may be useful in external projects.  The way to use this collection is by first making a find_package call:
 
     find_package(GTSAMCMakeTools)
 
 which will add a directory containing the GTSAM CMake tools to the CMAKE_MODULE_PATH variable.  After that, you may include the files you would like to use.  These files and the functions they define are explained below.
 
-GtsamBuildTypes
----------------
+## GtsamBuildTypes
 
     include(GtsamBuildTypes)
 
@@ -17,8 +15,8 @@ Including this file immediately sets up the following build types and a drop-dow
 *   `Debug`
 *   `Release`
 *   `RelWithDebInfo`
-*   `Profiling`:  All optimizations enabled and minimal debug symbols
-*   `Timing`:  Defines the symbol GTSAM_ENABLE_TIMING for using GTSAM timing instrumentation
+*   `Profiling`: All optimizations enabled and minimal debug symbols
+*   `Timing`: Defines the symbol GTSAM_ENABLE_TIMING for using GTSAM timing instrumentation
 
 It also configures several minor details, as follows:
 
@@ -30,8 +28,7 @@ It defines the following functions:
 *   `gtsam_assign_source_folders( [files] )` Organizes files in the IDE into folders to reflect the actual directory structure of those files.  Folders will be determined relative to the current source folder when this function is called.
 *   `gtsam_assign_all_source_folders()` Calls `gtsam_assign_source_folders` on all cpp, c, and h files recursively in the current source folder.
 
-GtsamTesting
-------------
+## GtsamTesting
 
     include(GtsamTesting)
 
@@ -70,8 +67,7 @@ Defines two useful functions for creating CTest unit tests.  Also immediately cr
                        an empty string "" if nothing needs to be excluded.
         linkLibraries: The list of libraries to link to.
 
-GtsamMatlabWrap
----------------
+## GtsamMatlabWrap
 
     include(GtsamMatlabWrap)
 
@@ -97,8 +93,7 @@ Defines functions for generating MATLAB wrappers.  Also immediately creates seve
         extraMexFlags:    Any *additional* flags to pass to the compiler when building
                           the wrap code.  Normally, leave this empty.
 
-GtsamMakeConfigFile
--------------------
+## GtsamMakeConfigFile
 
     include(GtsamMakeConfigFile)