diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h index d4a4783103..0ef787b059 100644 --- a/gtsam/geometry/Similarity3.h +++ b/gtsam/geometry/Similarity3.h @@ -23,7 +23,7 @@ #include #include #include -#include +#include namespace gtsam { @@ -53,54 +53,54 @@ class Similarity3: public LieGroup { /// @{ /// Default constructor - GTSAM_UNSTABLE_EXPORT Similarity3(); + GTSAM_EXPORT Similarity3(); /// Construct pure scaling - GTSAM_UNSTABLE_EXPORT Similarity3(double s); + GTSAM_EXPORT Similarity3(double s); /// Construct from GTSAM types - GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s); + GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s); /// Construct from Eigen types - GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s); + GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s); /// Construct from matrix [R t; 0 s^-1] - GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T); + GTSAM_EXPORT Similarity3(const Matrix4& T); /// @} /// @name Testable /// @{ /// Compare with tolerance - GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const; + GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const; /// Exact equality - GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const; + GTSAM_EXPORT bool operator==(const Similarity3& other) const; /// Print with optional string - GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const; + GTSAM_EXPORT void print(const std::string& s) const; - GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p); /// @} /// @name Group /// @{ /// Return an identity transform - GTSAM_UNSTABLE_EXPORT static Similarity3 identity(); + GTSAM_EXPORT static Similarity3 identity(); /// Composition - GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const; + GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const; /// Return the inverse - GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const; + GTSAM_EXPORT Similarity3 inverse() const; /// @} /// @name Group action on Point3 /// @{ /// Action on a point p is s*(R*p+t) - GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, // + GTSAM_EXPORT Point3 transformFrom(const Point3& p, // OptionalJacobian<3, 7> H1 = boost::none, // OptionalJacobian<3, 3> H2 = boost::none) const; @@ -115,15 +115,15 @@ class Similarity3: public LieGroup { * This group action satisfies the compatibility condition. * For more details, refer to: https://en.wikipedia.org/wiki/Group_action */ - GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; + GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const; /** syntactic sugar for transformFrom */ - GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const; + GTSAM_EXPORT Point3 operator*(const Point3& p) const; /** * Create Similarity3 by aligning at least three point pairs */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPointPairs); + GTSAM_EXPORT static Similarity3 Align(const std::vector& abPointPairs); /** * Create the Similarity3 object that aligns at least two pose pairs. @@ -135,7 +135,7 @@ class Similarity3: public LieGroup { * using the algorithm described here: * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPosePairs); + GTSAM_EXPORT static Similarity3 Align(const std::vector& abPosePairs); /// @} /// @name Lie Group @@ -144,12 +144,12 @@ class Similarity3: public LieGroup { /** Log map at the identity * \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$ */ - GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, // + GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, // OptionalJacobian<7, 7> Hm = boost::none); /** Exponential map at the identity */ - GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, // + GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, // OptionalJacobian<7, 7> Hm = boost::none); /// Chart at the origin @@ -170,17 +170,17 @@ class Similarity3: public LieGroup { * @return 4*4 element of Lie algebra that can be exponentiated * TODO(frank): rename to Hat, make part of traits */ - GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi); + GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi); /// Project from one tangent space to another - GTSAM_UNSTABLE_EXPORT Matrix7 AdjointMap() const; + GTSAM_EXPORT Matrix7 AdjointMap() const; /// @} /// @name Standard interface /// @{ /// Calculate 4*4 matrix group equivalent - GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const; + GTSAM_EXPORT const Matrix4 matrix() const; /// Return a GTSAM rotation const Rot3& rotation() const { @@ -199,7 +199,7 @@ class Similarity3: public LieGroup { /// Convert to a rigid body pose (R, s*t) /// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast. - GTSAM_UNSTABLE_EXPORT operator Pose3() const; + GTSAM_EXPORT operator Pose3() const; /// Dimensionality of tangent space = 7 DOF - used to autodetect sizes inline static size_t Dim() { diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 38653ea9c3..ba06dcbf2c 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -1037,8 +1037,8 @@ class Similarity3 { Similarity3(const Matrix& T); gtsam::Pose3 transformFrom(const gtsam::Pose3& T); - static Similarity3 Align(const gtsam::Point3Pairs & abPointPairs); - static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); + static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs); + static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); // Standard Interface const Matrix matrix() const;