try remove GTSAM_EXPORT from cpp

Author: talregev

gtsam/geometry/SO3.cpp

@@ -261,7 +261,6 @@ Matrix3 SO3::Hat(const Vector3& xi) {
 
 //******************************************************************************
 template <>
-GTSAM_EXPORT
 Vector3 SO3::Vee(const Matrix3& X) {
   Vector3 xi;
   xi(0) = -X(1, 2);

gtsam/geometry/SO4.cpp

@@ -135,27 +135,6 @@ SO4 SO4::Expmap(const Vector6& xi, ChartJacobian H) {
 }
 
 //******************************************************************************
-template <>
-GTSAM_EXPORT
-SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const {
-  const Matrix& Q = matrix_;
-  if (H) {
-    H->setZero();
-    H->block<4, 1>(0, 2) = -Q.col(3);
-    H->block<4, 1>(0, 4) = -Q.col(2);
-    H->block<4, 1>(0, 5) = Q.col(1);
-    H->block<4, 1>(4, 1) = Q.col(3);
-    H->block<4, 1>(4, 3) = Q.col(2);
-    H->block<4, 1>(4, 5) = -Q.col(0);
-    H->block<4, 1>(8, 0) = -Q.col(3);
-    H->block<4, 1>(8, 3) = -Q.col(1);
-    H->block<4, 1>(8, 4) = Q.col(0);
-    H->block<4, 1>(12, 0) = Q.col(2);
-    H->block<4, 1>(12, 1) = -Q.col(1);
-    H->block<4, 1>(12, 2) = Q.col(0);
-  }
-  return Eigen::Map<const SO4::VectorN2>(Q.data());
-}
 
 ///******************************************************************************
 template <>

gtsam/geometry/SO4.h

@@ -74,6 +74,28 @@ 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
+SO4::VectorN2 SO4::vec(OptionalJacobian<16, 6> H) const {
+  const Matrix& Q = matrix_;
+  if (H) {
+    H->setZero();
+    H->block<4, 1>(0, 2) = -Q.col(3);
+    H->block<4, 1>(0, 4) = -Q.col(2);
+    H->block<4, 1>(0, 5) = Q.col(1);
+    H->block<4, 1>(4, 1) = Q.col(3);
+    H->block<4, 1>(4, 3) = Q.col(2);
+    H->block<4, 1>(4, 5) = -Q.col(0);
+    H->block<4, 1>(8, 0) = -Q.col(3);
+    H->block<4, 1>(8, 3) = -Q.col(1);
+    H->block<4, 1>(8, 4) = Q.col(0);
+    H->block<4, 1>(12, 0) = Q.col(2);
+    H->block<4, 1>(12, 1) = -Q.col(1);
+    H->block<4, 1>(12, 2) = Q.col(0);
+  }
+  return Eigen::Map<const SO4::VectorN2>(Q.data());
+}
+
 #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);
       }