fixed dllexport issues in geometry, only tests failing

borglab · varunagrawal · Feb 22, 2022 · Feb 17, 2022 · Feb 17, 2022 · Feb 17, 2022
commit fcd418a673ef59191c6a766b2f6e446a3a540084
diff --git a/gtsam/geometry/SOn.cpp b/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

diff --git a/gtsam/geometry/SOn.h b/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>

diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
@@ -40,7 +40,7 @@
 namespace gtsam {
 
 /// Represents a 3D point on a unit sphere.
-class Unit3 {
+class GTSAM_EXPORT Unit3 {
 
 private:
 
@@ -97,7 +97,7 @@ class Unit3 {
   }
 
   /// Named constructor from Point3 with optional Jacobian
-  GTSAM_EXPORT static Unit3 FromPoint3(const Point3& point, //
+  static Unit3 FromPoint3(const Point3& point, //
       OptionalJacobian<2, 3> H = boost::none);
 
   /**
@@ -106,7 +106,7 @@ class Unit3 {
    *   std::mt19937 engine(42);
    *   Unit3 unit = Unit3::Random(engine);
    */
-  GTSAM_EXPORT static Unit3 Random(std::mt19937 & rng);
+  static Unit3 Random(std::mt19937 & rng);
 
   /// @}
 
@@ -116,7 +116,7 @@ class Unit3 {
   friend std::ostream& operator<<(std::ostream& os, const Unit3& pair);
 
   /// The print fuction
-  GTSAM_EXPORT void print(const std::string& s = std::string()) const;
+  void print(const std::string& s = std::string()) const;
 
   /// The equals function with tolerance
   bool equals(const Unit3& s, double tol = 1e-9) const {
@@ -133,37 +133,37 @@ class Unit3 {
    * tangent to the sphere at the current direction.
    * Provides derivatives of the basis with the two basis vectors stacked up as a 6x1.
    */
-  GTSAM_EXPORT const Matrix32& basis(OptionalJacobian<6, 2> H = boost::none) const;
+  const Matrix32& basis(OptionalJacobian<6, 2> H = boost::none) const;
 
   /// Return skew-symmetric associated with 3D point on unit sphere
-  GTSAM_EXPORT Matrix3 skew() const;
+  Matrix3 skew() const;
 
   /// Return unit-norm Point3
-  GTSAM_EXPORT Point3 point3(OptionalJacobian<3, 2> H = boost::none) const;
+  Point3 point3(OptionalJacobian<3, 2> H = boost::none) const;
 
   /// Return unit-norm Vector
-  GTSAM_EXPORT Vector3 unitVector(OptionalJacobian<3, 2> H = boost::none) const;
+  Vector3 unitVector(OptionalJacobian<3, 2> H = boost::none) const;
 
   /// Return scaled direction as Point3
   friend Point3 operator*(double s, const Unit3& d) {
     return Point3(s * d.p_);
   }
 
   /// Return dot product with q
-  GTSAM_EXPORT double dot(const Unit3& q, OptionalJacobian<1,2> H1 = boost::none, //
+  double dot(const Unit3& q, OptionalJacobian<1,2> H1 = boost::none, //
                              OptionalJacobian<1,2> H2 = boost::none) const;
 
   /// Signed, vector-valued error between two directions
   /// @deprecated, errorVector has the proper derivatives, this confusingly has only the second.
-  GTSAM_EXPORT Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H_q = boost::none) const;
+  Vector2 error(const Unit3& q, OptionalJacobian<2, 2> H_q = boost::none) const;
 
   /// Signed, vector-valued error between two directions
   /// NOTE(hayk): This method has zero derivatives if this (p) and q are orthogonal.
-  GTSAM_EXPORT Vector2 errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p = boost::none, //
+  Vector2 errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p = boost::none, //
                       OptionalJacobian<2, 2> H_q = boost::none) const;
 
   /// Distance between two directions
-  GTSAM_EXPORT double distance(const Unit3& q, OptionalJacobian<1, 2> H = boost::none) const;
+  double distance(const Unit3& q, OptionalJacobian<1, 2> H = boost::none) const;
 
   /// Cross-product between two Unit3s
   Unit3 cross(const Unit3& q) const {
@@ -196,10 +196,10 @@ class Unit3 {
   };
 
   /// The retract function
-  GTSAM_EXPORT Unit3 retract(const Vector2& v, OptionalJacobian<2,2> H = boost::none) const;
+  Unit3 retract(const Vector2& v, OptionalJacobian<2,2> H = boost::none) const;
 
   /// The local coordinates function
-  GTSAM_EXPORT Vector2 localCoordinates(const Unit3& s) const;
+  Vector2 localCoordinates(const Unit3& s) const;
 
   /// @}