Windows Tests

.github/workflows/build-windows.yml

@@ -106,6 +106,21 @@ jobs:
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+
+          # Run GTSAM tests
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+
+          # Run GTSAM_UNSTABLE tests
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+

DEVELOP.md

@@ -15,7 +15,7 @@ For example:
 ```cpp
 class GTSAM_EXPORT MyClass { ... };
 
-GTSAM_EXPORT myFunction();
+GTSAM_EXPORT return_type myFunction();
 ```
 
 More details [here](Using-GTSAM-EXPORT.md).

Using-GTSAM-EXPORT.md

@@ -8,6 +8,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need
     * At least one of the functions inside that class is declared in a .cpp file and not just the .h file.
     * You can `GTSAM_EXPORT` any class it inherits from as well.  (Note that this implictly requires the class does not derive from a "header-only" class.  Note that Eigen is a "header-only" library, so if your class derives from Eigen, _do not_ use `GTSAM_EXPORT` in the class definition!) 
 3.  If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations.  (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.)
+4. For template specializations, you need to add `GTSAM_EXPORT` to each individual specialization.
 
 ## When is GTSAM_EXPORT being used incorrectly
 Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library.  For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself.  The most common errors will say something like:

cmake/GtsamBuildTypes.cmake

@@ -93,6 +93,10 @@ if(MSVC)
 	/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
   )
 
+  add_compile_options(/wd4005)
+  add_compile_options(/wd4101)
+  add_compile_options(/wd4834)
+
 endif()
 
 # Other (non-preprocessor macros) compiler flags:

gtsam/basis/Basis.h

@@ -92,7 +92,7 @@ Matrix kroneckerProductIdentity(const Weights& w) {
 
 /// CRTP Base class for function bases
 template <typename DERIVED>
-class GTSAM_EXPORT Basis {
+class Basis {
  public:
   /**
    * Calculate weights for all x in vector X.
@@ -497,11 +497,6 @@ class GTSAM_EXPORT Basis {
     }
   };
 
-  // Vector version for MATLAB :-(
-  static double Derivative(double x, const Vector& p,  //
-                           OptionalJacobian</*1xN*/ -1, -1> H = boost::none) {
-    return DerivativeFunctor(x)(p.transpose(), H);
-  }
 };
 
 }  // namespace gtsam

gtsam/basis/BasisFactors.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * @tparam BASIS The basis class to use e.g. Chebyshev2
  */
 template <class BASIS>
-class GTSAM_EXPORT EvaluationFactor : public FunctorizedFactor<double, Vector> {
+class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  private:
   using Base = FunctorizedFactor<double, Vector>;
 
@@ -85,7 +85,7 @@ class GTSAM_EXPORT EvaluationFactor : public FunctorizedFactor<double, Vector> {
  * @param M: Size of the evaluated state vector.
  */
 template <class BASIS, int M>
-class GTSAM_EXPORT VectorEvaluationFactor
+class VectorEvaluationFactor
     : public FunctorizedFactor<Vector, ParameterMatrix<M>> {
  private:
   using Base = FunctorizedFactor<Vector, ParameterMatrix<M>>;
@@ -148,7 +148,7 @@ class GTSAM_EXPORT VectorEvaluationFactor
  *  where N is the degree and i is the component index.
  */
 template <class BASIS, size_t P>
-class GTSAM_EXPORT VectorComponentFactor
+class VectorComponentFactor
     : public FunctorizedFactor<double, ParameterMatrix<P>> {
  private:
   using Base = FunctorizedFactor<double, ParameterMatrix<P>>;
@@ -217,7 +217,7 @@ class GTSAM_EXPORT VectorComponentFactor
  * where `x` is the value (e.g. timestep) at which the rotation was evaluated.
  */
 template <class BASIS, typename T>
-class GTSAM_EXPORT ManifoldEvaluationFactor
+class ManifoldEvaluationFactor
     : public FunctorizedFactor<T, ParameterMatrix<traits<T>::dimension>> {
  private:
   using Base = FunctorizedFactor<T, ParameterMatrix<traits<T>::dimension>>;
@@ -269,7 +269,7 @@ class GTSAM_EXPORT ManifoldEvaluationFactor
  * @param BASIS: The basis class to use e.g. Chebyshev2
  */
 template <class BASIS>
-class GTSAM_EXPORT DerivativeFactor
+class DerivativeFactor
     : public FunctorizedFactor<double, typename BASIS::Parameters> {
  private:
   using Base = FunctorizedFactor<double, typename BASIS::Parameters>;
@@ -318,7 +318,7 @@ class GTSAM_EXPORT DerivativeFactor
  * @param M: Size of the evaluated state vector derivative.
  */
 template <class BASIS, int M>
-class GTSAM_EXPORT VectorDerivativeFactor
+class VectorDerivativeFactor
     : public FunctorizedFactor<Vector, ParameterMatrix<M>> {
  private:
   using Base = FunctorizedFactor<Vector, ParameterMatrix<M>>;
@@ -371,7 +371,7 @@ class GTSAM_EXPORT VectorDerivativeFactor
  * @param P: Size of the control component derivative.
  */
 template <class BASIS, int P>
-class GTSAM_EXPORT ComponentDerivativeFactor
+class ComponentDerivativeFactor
     : public FunctorizedFactor<double, ParameterMatrix<P>> {
  private:
   using Base = FunctorizedFactor<double, ParameterMatrix<P>>;

gtsam/basis/Chebyshev.h

@@ -31,7 +31,7 @@ namespace gtsam {
  * These are typically denoted with the symbol T_n, where n is the degree.
  * The parameter N is the number of coefficients, i.e., N = n+1.
  */
-struct Chebyshev1Basis : Basis<Chebyshev1Basis> {
+struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
   using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
   Parameters parameters_;
@@ -79,7 +79,7 @@ struct Chebyshev1Basis : Basis<Chebyshev1Basis> {
  * functions. In this sense, they are like the sines and cosines of the Fourier
  * basis.
  */
-struct Chebyshev2Basis : Basis<Chebyshev2Basis> {
+struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
   using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
   /**

gtsam/basis/Fourier.h

@@ -24,7 +24,7 @@
 namespace gtsam {
 
 /// Fourier basis
-class GTSAM_EXPORT FourierBasis : public Basis<FourierBasis> {
+class FourierBasis : public Basis<FourierBasis> {
  public:
   using Parameters = Eigen::Matrix<double, /*Nx1*/ -1, 1>;
   using DiffMatrix = Eigen::Matrix<double, /*NxN*/ -1, -1>;

gtsam/basis/basis.i

@@ -44,9 +44,6 @@ class Chebyshev2 {
   static Matrix DerivativeWeights(size_t N, double x, double a, double b);
   static Matrix IntegrationWeights(size_t N, double a, double b);
   static Matrix DifferentiationMatrix(size_t N, double a, double b);
-
-  // TODO Needs OptionalJacobian
-  // static double Derivative(double x, Vector f);
 };
 
 #include <gtsam/basis/ParameterMatrix.h>

gtsam/discrete/AlgebraicDecisionTree.h

@@ -33,7 +33,7 @@ namespace gtsam {
    * TODO: consider eliminating this class altogether?
    */
   template <typename L>
-  class GTSAM_EXPORT AlgebraicDecisionTree : public DecisionTree<L, double> {
+  class AlgebraicDecisionTree : public DecisionTree<L, double> {
     /**
      * @brief Default method used by `labelFormatter` or `valueFormatter` when
      * printing.
@@ -127,7 +127,7 @@ namespace gtsam {
         return map.at(label);
       };
       std::function<double(const double&)> op = Ring::id;
-      this->root_ = this->template convertFrom(other.root_, L_of_M, op);
+      this->root_ = DecisionTree<L, double>::convertFrom(other.root_, L_of_M, op);
     }
 
     /** sum */

gtsam/discrete/DiscreteLookupDAG.h

@@ -36,7 +36,7 @@ class DiscreteBayesNet;
  * Inherits from discrete conditional for convenience, but is not normalized.
  * Is used in the max-product algorithm.
  */
-class DiscreteLookupTable : public DiscreteConditional {
+class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
  public:
   using This = DiscreteLookupTable;
   using shared_ptr = boost::shared_ptr<This>;

gtsam/discrete/DiscreteMarginals.h

@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * A class for computing marginals of variables in a DiscreteFactorGraph
    */
-class GTSAM_EXPORT DiscreteMarginals {
+class DiscreteMarginals {
 
   protected:
 

gtsam/discrete/DiscreteValues.h

@@ -37,7 +37,7 @@ namespace gtsam {
  * stores cardinality of a Discrete variable. It should be handled naturally in
  * the new class DiscreteValue, as the variable's type (domain)
  */
-class DiscreteValues : public Assignment<Key> {
+class GTSAM_EXPORT DiscreteValues : public Assignment<Key> {
  public:
   using Base = Assignment<Key>;  // base class
 

gtsam/geometry/Line3.cpp

@@ -91,30 +91,4 @@ Point3 Line3::point(double distance) const {
   return rotated_center + distance * R_.r3();
 }
 
-Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
-                  OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline) {
-  Rot3 wRc = wTc.rotation();
-  Rot3 cRw = wRc.inverse();
-  Rot3 cRl = cRw * wL.R_;
-
-  Vector2 w_ab;
-  Vector3 t = ((wL.R_).transpose() * wTc.translation());
-  Vector2 c_ab(wL.a_ - t[0], wL.b_ - t[1]);
-
-  if (Dpose) {
-    Matrix3 lRc = (cRl.matrix()).transpose();
-    Dpose->setZero();
-    // rotation
-    Dpose->block<2, 3>(0, 0) = -lRc.block<2, 3>(0, 0);
-    // translation
-    Dpose->block<2, 3>(2, 3) = -lRc.block<2, 3>(0, 0);
-  }
-  if (Dline) {
-    Dline->setIdentity();
-    (*Dline)(0, 3) = -t[2];
-    (*Dline)(1, 2) = t[2];
-  }
-  return Line3(cRl, c_ab[0], c_ab[1]);
-}
-
-}
+}  // namespace gtsam

gtsam/geometry/Line3.h

@@ -26,7 +26,7 @@ namespace gtsam {
  * @addtogroup geometry
  * \nosubgrouping
  */
-class Line3 {
+class GTSAM_EXPORT Line3 {
  private:
   Rot3 R_;    // Rotation of line about x and y in world frame
   double a_, b_;  // Intersection of line with the world x-y plane rotated by R_
@@ -146,7 +146,30 @@ class Line3 {
  */
 Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
                   OptionalJacobian<4, 6> Dpose = boost::none,
-                  OptionalJacobian<4, 4> Dline = boost::none);
+                  OptionalJacobian<4, 4> Dline = boost::none) {
+  Rot3 wRc = wTc.rotation();
+  Rot3 cRw = wRc.inverse();
+  Rot3 cRl = cRw * wL.R_;
+
+  Vector2 w_ab;
+  Vector3 t = ((wL.R_).transpose() * wTc.translation());
+  Vector2 c_ab(wL.a_ - t[0], wL.b_ - t[1]);
+
+  if (Dpose) {
+    Matrix3 lRc = (cRl.matrix()).transpose();
+    Dpose->setZero();
+    // rotation
+    Dpose->block<2, 3>(0, 0) = -lRc.block<2, 3>(0, 0);
+    // translation
+    Dpose->block<2, 3>(2, 3) = -lRc.block<2, 3>(0, 0);
+  }
+  if (Dline) {
+    Dline->setIdentity();
+    (*Dline)(0, 3) = -t[2];
+    (*Dline)(1, 2) = t[2];
+  }
+  return Line3(cRl, c_ab[0], c_ab[1]);
+}
 
 template<>
 struct traits<Line3> : public internal::Manifold<Line3> {};

gtsam/geometry/SOn.cpp

@@ -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");
@@ -48,15 +48,14 @@ 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);
   return X;
 }
 
 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

gtsam/geometry/SOn.h

@@ -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>