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Windows Tests #1109

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merged 18 commits into from
Feb 22, 2022
+190 −121
Merged

Windows Tests #1109

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6e6c647
basis module tests pass
varunagrawal Feb 17, 2022
b13a219
update METIS test for _WIN32
varunagrawal Feb 17, 2022
7712158
sfm tests pass
varunagrawal Feb 17, 2022
beeb91a
symbolic tests pass
varunagrawal Feb 17, 2022
865a7ba
navigation tests passing
varunagrawal Feb 17, 2022
2e5bdcd
fixed dllexport issues in nonlinear, only tests failing
varunagrawal Feb 17, 2022
38425f1
fixed dllexport issues in slam, only tests failing
varunagrawal Feb 17, 2022
1e1e2c2
move Line3 transformTo definition to header to resolve ambiguity
varunagrawal Feb 17, 2022
fcd418a
fixed dllexport issues in geometry, only tests failing
varunagrawal Feb 17, 2022
566c7b9
Fix discrete module
varunagrawal Feb 17, 2022
770587d
documentation updates
varunagrawal Feb 17, 2022
d860e39
suppress spurious warnings
varunagrawal Feb 17, 2022
9a234a2
build (almost) all GTSAM test targets in CI
varunagrawal Feb 17, 2022
12d1d21
formatting updates
varunagrawal Feb 17, 2022
6fe55af
comment out gtsam_unstable test target
varunagrawal Feb 17, 2022
1545d90
Move transformTo declaration to the top to avoid ambiguous linkage
varunagrawal Feb 17, 2022
57a51a7
Assignment accidentally used in place of equality
mikesheffler Feb 18, 2022
e4733e7
* Repaired actual test (needs '49', not '54'?) and LONGS_EQUAL instea…
mikesheffler Feb 21, 2022
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basis module tests pass
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@varunagrawal
varunagrawal committed Feb 17, 2022
commit 6e6c64749d9a319aa20840a03c0e4c0af1ca2c7b
7 changes: 1 addition & 6 deletions gtsam/basis/Basis.h
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Expand Up @@ -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.
Expand Down Expand Up @@ -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
14 changes: 7 additions & 7 deletions gtsam/basis/BasisFactors.h
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Expand Up @@ -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>;

Expand Down Expand Up @@ -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>>;
Expand Down Expand Up @@ -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>>;
Expand Down Expand Up @@ -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>>;
Expand Down Expand Up @@ -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>;
Expand Down Expand Up @@ -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>>;
Expand Down Expand Up @@ -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>>;
Expand Down
4 changes: 2 additions & 2 deletions gtsam/basis/Chebyshev.h
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Expand Up @@ -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_;
Expand Down Expand Up @@ -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*/>;

/**
Expand Down
2 changes: 1 addition & 1 deletion gtsam/basis/Fourier.h
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Expand Up @@ -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>;
Expand Down
3 changes: 0 additions & 3 deletions gtsam/basis/basis.i
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Expand Up @@ -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>
Expand Down