Remove duplicate export

Author: dellaert

gtsam/navigation/LeggedEstimator.h

@@ -145,10 +145,9 @@ class GTSAM_EXPORT LeggedInvariantEKF : public LeftLinearEKF<ExtendedPose3d>,
   using Covariance = typename EkfBase::Covariance;
 
   /// Construct the ExtendedPose3-based EKF.
-  GTSAM_EXPORT LeggedInvariantEKF(
-      const NavState& navState0, const Matrix& footholds0, const Matrix& P0,
-      const LeggedEstimatorParams& params,
-      const std::vector<std::string>& footNames = {});
+  LeggedInvariantEKF(const NavState& navState0, const Matrix& footholds0,
+                     const Matrix& P0, const LeggedEstimatorParams& params,
+                     const std::vector<std::string>& footNames = {});
 
   /// Return the current full covariance.
   Matrix covariance() const { return EkfBase::covariance(); }
@@ -173,12 +172,11 @@ class GTSAM_EXPORT LeggedInvariantEKF : public LeftLinearEKF<ExtendedPose3d>,
   }
 
   /// Predict forward using one IMU sample.
-  GTSAM_EXPORT void predict(const Vector3& omegaBody,
-                            const Vector3& specificForceBody,
-                            double dt) override;
+  void predict(const Vector3& omegaBody, const Vector3& specificForceBody,
+               double dt) override;
 
   /// Process all currently active contacts for the current step.
-  GTSAM_EXPORT void processContacts(
+  void processContacts(
       const std::vector<ContactMeasurement>& activeContacts) override;
 
   /// Autonomous flow used by the left-linear prediction step.
@@ -206,18 +204,17 @@ class GTSAM_EXPORT LeggedInvariantEKF : public LeftLinearEKF<ExtendedPose3d>,
   };
 
   /// Build an `ExtendedPose3(2+k)` state from base state and world footholds.
-  GTSAM_EXPORT static ExtendedPose3d MakeState(const NavState& navState,
-                                               const Matrix& footholds);
+  static ExtendedPose3d MakeState(const NavState& navState,
+                                  const Matrix& footholds);
 
   /// Build the gravity-only left increment for one prediction step.
-  GTSAM_EXPORT static ExtendedPose3d GravityIncrement(size_t numFeet,
-                                                      const Vector3& gravity,
-                                                      double dt);
+  static ExtendedPose3d GravityIncrement(size_t numFeet, const Vector3& gravity,
+                                         double dt);
 
   /// Build the IMU-only right increment for one prediction step.
-  GTSAM_EXPORT static ExtendedPose3d ImuIncrement(
-      size_t numFeet, const Vector3& omegaBody,
-      const Vector3& specificForceBody, double dt);
+  static ExtendedPose3d ImuIncrement(size_t numFeet, const Vector3& omegaBody,
+                                     const Vector3& specificForceBody,
+                                     double dt);
 
   /// Return the `ExtendedPose3` block index corresponding to a foot number.
   static size_t FootColumn(size_t foot) { return 2 + foot; }
@@ -229,10 +226,9 @@ class GTSAM_EXPORT LeggedInvariantEKF : public LeftLinearEKF<ExtendedPose3d>,
   Matrix footholdMatrix() const {
     return this->X_.xMatrix().rightCols(static_cast<Eigen::Index>(numFeet()));
   }
-  GTSAM_EXPORT void resetFootToMeasurement(size_t foot,
-                                           const Vector3& bodyPoint);
-  GTSAM_EXPORT void marginalizeFoot(size_t foot);
-  GTSAM_EXPORT virtual void applyContactUpdate(
+  void resetFootToMeasurement(size_t foot, const Vector3& bodyPoint);
+  void marginalizeFoot(size_t foot);
+  virtual void applyContactUpdate(
       const std::vector<ContactMeasurement>& activeContacts);
   bool awaitingFullContactInitialization() const {
     return params_.useFullContactInitialization && !fullContactInitialized_;
@@ -266,10 +262,9 @@ class GTSAM_EXPORT LeggedInvariantEKF : public LeftLinearEKF<ExtendedPose3d>,
 class GTSAM_EXPORT LeggedInvariantIEKF : public LeggedInvariantEKF {
  public:
   /// Construct the graph-update ExtendedPose3 estimator.
-  GTSAM_EXPORT LeggedInvariantIEKF(
-      const NavState& navState0, const Matrix& footholds0, const Matrix& P0,
-      const LeggedEstimatorParams& params,
-      const std::vector<std::string>& footNames = {});
+  LeggedInvariantIEKF(const NavState& navState0, const Matrix& footholds0,
+                      const Matrix& P0, const LeggedEstimatorParams& params,
+                      const std::vector<std::string>& footNames = {});
 
  protected:
   void applyContactUpdate(