try to fix unresolved external symbol error

and dividing by zero problem

Author: talregev

cmake/dllexport.h.in

@@ -31,10 +31,10 @@
 
 // Whether GTSAM is compiled as static or DLL in windows. 
 // This will be used to decide whether include __declspec(dllimport) or not in headers
-#cmakedefine GTSAM_SHARED_LIB
+#cmakedefine01 GTSAM_SHARED_LIB
 
 #ifdef _WIN32
-#  ifndef GTSAM_SHARED_LIB
+#  if !GTSAM_SHARED_LIB
 #    define @library_name@_EXPORT
 #    define @library_name@_EXTERN_EXPORT extern
 #  else

gtsam/geometry/SO3.cpp

@@ -386,21 +386,6 @@ Vector3 SO3::ChartAtOrigin::Local(const SO3& R, ChartJacobian H) {
 }
 
 //******************************************************************************
-template <>
-GTSAM_EXPORT
-Vector9 SO3::vec(OptionalJacobian<9, 3> H) const {
-  const Matrix3& R = matrix_;
-  if (H) {
-    H->setZero();
-    H->block<3, 1>(0, 1) = -R.col(2);
-    H->block<3, 1>(0, 2) = R.col(1);
-    H->block<3, 1>(3, 0) = R.col(2);
-    H->block<3, 1>(3, 2) = -R.col(0);
-    H->block<3, 1>(6, 0) = -R.col(1);
-    H->block<3, 1>(6, 1) = R.col(0);
-  }
-  return Eigen::Map<const Vector9>(R.data());
-}
 //******************************************************************************
 
 }  // end namespace gtsam

gtsam/geometry/SO3.h

@@ -99,6 +99,22 @@ template <>
 GTSAM_EXPORT
 Vector9 SO3::vec(OptionalJacobian<9, 3> H) const;
 
+template <>
+GTSAM_EXPORT
+inline Vector9 SO3::vec(OptionalJacobian<9, 3> H) const {
+  const Matrix3& R = matrix_;
+  if (H) {
+    H->setZero();
+    H->block<3, 1>(0, 1) = -R.col(2);
+    H->block<3, 1>(0, 2) = R.col(1);
+    H->block<3, 1>(3, 0) = R.col(2);
+    H->block<3, 1>(3, 2) = -R.col(0);
+    H->block<3, 1>(6, 0) = -R.col(1);
+    H->block<3, 1>(6, 1) = R.col(0);
+  }
+  return Eigen::Map<const Vector9>(R.data());
+}
+
 #if GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
 /** Serialization function */

gtsam/geometry/SO4.cpp

@@ -66,18 +66,6 @@ Matrix4 SO4::Hat(const Vector6& xi) {
 }
 
 //******************************************************************************
-template <>
-GTSAM_EXPORT
-Vector6 SO4::Vee(const Matrix4& X) {
-  Vector6 xi;
-  xi(5) = -X(0, 1);
-  xi(4) = +X(0, 2);
-  xi(3) = -X(1, 2);
-  xi(2) = +X(0, 3);
-  xi(1) = -X(1, 3);
-  xi(0) = +X(2, 3);
-  return xi;
-}
 
 //******************************************************************************
 /* Exponential map, porting MATLAB implementation by Luca, which follows

gtsam/geometry/SO4.h

@@ -74,6 +74,19 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = {});
  */
 GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = {});
 
+template <>
+GTSAM_EXPORT
+inline Vector6 SO4::Vee(const Matrix4& X) {
+  Vector6 xi;
+  xi(5) = -X(0, 1);
+  xi(4) = +X(0, 2);
+  xi(3) = -X(1, 2);
+  xi(2) = +X(0, 3);
+  xi(1) = -X(1, 3);
+  xi(0) = +X(2, 3);
+  return xi;
+}
+
 #if GTSAM_ENABLE_BOOST_SERIALIZATION
 template <class Archive>
 /** Serialization function */

gtsam/linear/NoiseModel.h

@@ -575,6 +575,9 @@ namespace gtsam {
        * An isotropic noise model created by specifying a precision
        */
       static shared_ptr Precision(size_t dim, double precision, bool smart = true)  {
+        if (0 == precision) {
+          return nullptr;
+        }
         return Variance(dim, 1.0/precision, smart);
       }