Merge branch 'release/2.4.0'

Conflicts:
	gtsam/slam/tests/testBetweenFactor.cpp

.gitignore

@@ -0,0 +1,2 @@
+/build/
+/*.DS_Store

CMakeLists.txt

@@ -4,8 +4,8 @@ cmake_minimum_required(VERSION 2.6)
 
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 2)
-set (GTSAM_VERSION_MINOR 3)
+set (GTSAM_VERSION_MINOR 4)
-set (GTSAM_VERSION_PATCH 1)
+set (GTSAM_VERSION_PATCH 0)
 
 
 ###############################################################################
@@ -130,7 +130,12 @@ endif()
 
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+### Disabled until our patches are included in Eigen ###
+### See:  http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
+###       http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
+###       http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization)
+# option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+set(GTSAM_USE_SYSTEM_EIGEN OFF)
 
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)
@@ -153,7 +158,7 @@ endif()
 configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h)
 
 # Install the configuration file for Eigen
-install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
+install(FILES ${PROJECT_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
 
 
 ###############################################################################
@@ -169,8 +174,8 @@ include_directories(BEFORE ${Boost_INCLUDE_DIR})
 include_directories(BEFORE
   gtsam/3rdparty/UFconfig 
   gtsam/3rdparty/CCOLAMD/Include
-  ${CMAKE_SOURCE_DIR}
+  ${PROJECT_SOURCE_DIR}
-  ${CMAKE_BINARY_DIR} # So we can include generated config header files
+  ${PROJECT_BINARY_DIR} # So we can include generated config header files
   CppUnitLite)
 
 if(MSVC)

cmake/Config.cmake.in

@@ -15,4 +15,9 @@ endif()
 # Load exports
 include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)
 
-message(STATUS "GTSAM include directory:  ${@CMAKE_PROJECT_NAME@_INCLUDE_DIR}")
+# Load project-specific flags, if present
+if(EXISTS "${OUR_CMAKE_DIR}/@EXTRA_FILE@")
+	include("${OUR_CMAKE_DIR}/@EXTRA_FILE@")
+endif()
+
+message(STATUS "@CMAKE_PROJECT_NAME@ include directory:  ${@CMAKE_PROJECT_NAME@_INCLUDE_DIR}")

cmake/FindGooglePerfTools.cmake

@@ -0,0 +1,42 @@
+# -*- cmake -*-
+
+# - Find Google perftools
+# Find the Google perftools includes and libraries
+# This module defines
+#  GOOGLE_PERFTOOLS_INCLUDE_DIR, where to find heap-profiler.h, etc.
+#  GOOGLE_PERFTOOLS_FOUND, If false, do not try to use Google perftools.
+# also defined for general use are
+#  TCMALLOC_LIBRARY, where to find the tcmalloc library.
+
+FIND_PATH(GOOGLE_PERFTOOLS_INCLUDE_DIR google/heap-profiler.h
+/usr/local/include
+/usr/include
+)
+
+SET(TCMALLOC_NAMES ${TCMALLOC_NAMES} tcmalloc)
+FIND_LIBRARY(TCMALLOC_LIBRARY
+  NAMES ${TCMALLOC_NAMES}
+  PATHS /usr/lib /usr/local/lib
+  )
+
+IF (TCMALLOC_LIBRARY AND GOOGLE_PERFTOOLS_INCLUDE_DIR)
+    SET(TCMALLOC_LIBRARIES ${TCMALLOC_LIBRARY})
+    SET(GOOGLE_PERFTOOLS_FOUND "YES")
+ELSE (TCMALLOC_LIBRARY AND GOOGLE_PERFTOOLS_INCLUDE_DIR)
+  SET(GOOGLE_PERFTOOLS_FOUND "NO")
+ENDIF (TCMALLOC_LIBRARY AND GOOGLE_PERFTOOLS_INCLUDE_DIR)
+
+IF (GOOGLE_PERFTOOLS_FOUND)
+   IF (NOT GOOGLE_PERFTOOLS_FIND_QUIETLY)
+      MESSAGE(STATUS "Found Google perftools: ${GOOGLE_PERFTOOLS_LIBRARIES}")
+   ENDIF (NOT GOOGLE_PERFTOOLS_FIND_QUIETLY)
+ELSE (GOOGLE_PERFTOOLS_FOUND)
+   IF (GOOGLE_PERFTOOLS_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find Google perftools library")
+   ENDIF (GOOGLE_PERFTOOLS_FIND_REQUIRED)
+ENDIF (GOOGLE_PERFTOOLS_FOUND)
+
+MARK_AS_ADVANCED(
+  TCMALLOC_LIBRARY
+  GOOGLE_PERFTOOLS_INCLUDE_DIR
+  )

cmake/FindMKL.cmake

@@ -0,0 +1,241 @@
+# This file is adapted from the one in OpenMEEG: http://www-sop.inria.fr/athena/software/OpenMEEG/
+# - Try to find the Intel Math Kernel Library
+# Once done this will define
+#
+#  MKL_FOUND - system has MKL
+#  MKL_ROOT_DIR - path to the MKL base directory
+#  MKL_INCLUDE_DIR - the MKL include directory
+#  MKL_LIBRARIES - MKL libraries
+#
+# There are few sets of libraries:
+# Array indexes modes:
+# LP - 32 bit indexes of arrays
+# ILP - 64 bit indexes of arrays
+# Threading:
+# SEQUENTIAL - no threading
+# INTEL - Intel threading library
+# GNU - GNU threading library
+# MPI support
+# NOMPI - no MPI support
+# INTEL - Intel MPI library
+# OPEN - Open MPI library
+# SGI - SGI MPT Library
+
+# linux
+IF(UNIX AND NOT APPLE)
+    IF(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+        SET(MKL_ARCH_DIR "intel64")
+    ELSE()
+        SET(MKL_ARCH_DIR "32")
+    ENDIF()
+ENDIF()
+# macos
+IF(APPLE)
+    SET(MKL_ARCH_DIR "intel64")
+ENDIF()
+
+IF(FORCE_BUILD_32BITS)
+    set(MKL_ARCH_DIR "32")
+ENDIF()
+# windows
+IF(WIN32)
+    IF(${CMAKE_SIZEOF_VOID_P} EQUAL 8)
+        SET(MKL_ARCH_DIR "intel64")
+    ELSE()
+        SET(MKL_ARCH_DIR "ia32")
+    ENDIF()
+ENDIF()
+
+SET(MKL_THREAD_VARIANTS SEQUENTIAL GNUTHREAD INTELTHREAD)
+SET(MKL_MODE_VARIANTS ILP LP)
+SET(MKL_MPI_VARIANTS NOMPI INTELMPI OPENMPI SGIMPT)
+
+FIND_PATH(MKL_ROOT_DIR
+    include/mkl_cblas.h
+    PATHS
+    $ENV{MKLDIR}
+    /opt/intel/mkl/
+    /opt/intel/mkl/*/
+    /opt/intel/cmkl/
+    /opt/intel/cmkl/*/
+    /Library/Frameworks/Intel_MKL.framework/Versions/Current/lib/universal
+        "C:/Program Files (x86)/Intel/ComposerXE-2011/mkl"
+        "C:/Program Files (x86)/Intel/Composer XE 2013/mkl"
+        "C:/Program Files/Intel/MKL/*/"
+        "C:/Program Files/Intel/ComposerXE-2011/mkl"
+        "C:/Program Files/Intel/Composer XE 2013/mkl"
+)
+
+FIND_PATH(MKL_INCLUDE_DIR
+  mkl_cblas.h
+  PATHS
+    ${MKL_ROOT_DIR}/include
+    ${INCLUDE_INSTALL_DIR}
+)
+
+FIND_PATH(MKL_FFTW_INCLUDE_DIR
+  fftw3.h
+  PATH_SUFFIXES fftw
+  PATHS
+    ${MKL_ROOT_DIR}/include
+    ${INCLUDE_INSTALL_DIR}
+  NO_DEFAULT_PATH
+)
+
+IF(WIN32)
+        SET(MKL_LIB_SEARCHPATH $ENV{ICC_LIB_DIR} $ENV{MKL_LIB_DIR} "${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}" "${MKL_ROOT_DIR}/../compiler" "${MKL_ROOT_DIR}/../compiler/lib/${MKL_ARCH_DIR}")
+        
+        IF (MKL_INCLUDE_DIR MATCHES "10.")
+                IF(CMAKE_CL_64)
+                        SET(MKL_LIBS mkl_solver_lp64 mkl_core mkl_intel_lp64 mkl_intel_thread libguide mkl_lapack95_lp64 mkl_blas95_lp64)
+                ELSE()
+                        SET(MKL_LIBS mkl_solver mkl_core mkl_intel_c mkl_intel_s mkl_intel_thread libguide mkl_lapack95 mkl_blas95)
+                ENDIF()
+        ELSEIF(MKL_INCLUDE_DIR MATCHES "2013") # version 11 ...
+                IF(CMAKE_CL_64)
+                        SET(MKL_LIBS mkl_core mkl_intel_lp64 mkl_intel_thread libiomp5md mkl_lapack95_lp64 mkl_blas95_lp64)
+                ELSE()
+                        SET(MKL_LIBS mkl_core mkl_intel_c mkl_intel_s mkl_intel_thread libiomp5md mkl_lapack95 mkl_blas95)
+                ENDIF()
+        ELSE() # old MKL 9
+                SET(MKL_LIBS mkl_solver mkl_c libguide mkl_lapack mkl_ia32)
+        ENDIF()
+
+        IF (MKL_INCLUDE_DIR MATCHES "10.3")
+                SET(MKL_LIBS ${MKL_LIBS} libiomp5md)
+        ENDIF()
+        
+        FOREACH (LIB ${MKL_LIBS})
+                FIND_LIBRARY(${LIB}_PATH ${LIB} PATHS ${MKL_LIB_SEARCHPATH} ENV LIBRARY_PATH)
+                IF(${LIB}_PATH)
+                        SET(MKL_LIBRARIES ${MKL_LIBRARIES} ${${LIB}_PATH})
+                ELSE()
+                        MESSAGE(STATUS "Could not find ${LIB}: disabling MKL")
+                ENDIF()
+        ENDFOREACH()
+        SET(MKL_FOUND ON)
+ELSE() # UNIX and macOS
+        FIND_LIBRARY(MKL_CORE_LIBRARY
+          mkl_core
+          PATHS
+                ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                ${MKL_ROOT_DIR}/lib/
+        )
+
+        # Threading libraries
+        FIND_LIBRARY(MKL_SEQUENTIAL_LIBRARY
+          mkl_sequential
+          PATHS
+                ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                ${MKL_ROOT_DIR}/lib/
+        )
+
+        FIND_LIBRARY(MKL_INTELTHREAD_LIBRARY
+          mkl_intel_thread
+          PATHS
+                ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                ${MKL_ROOT_DIR}/lib/
+        )
+
+        FIND_LIBRARY(MKL_GNUTHREAD_LIBRARY
+          mkl_gnu_thread
+          PATHS
+                ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                ${MKL_ROOT_DIR}/lib/
+        )
+
+        # Intel Libraries
+        IF("${MKL_ARCH_DIR}" STREQUAL "32")
+                FIND_LIBRARY(MKL_LP_LIBRARY
+                  mkl_intel
+                  PATHS
+                        ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                        ${MKL_ROOT_DIR}/lib/
+                )
+
+                FIND_LIBRARY(MKL_ILP_LIBRARY
+                  mkl_intel
+                  PATHS
+                        ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                        ${MKL_ROOT_DIR}/lib/
+                )
+        else()
+                FIND_LIBRARY(MKL_LP_LIBRARY
+                  mkl_intel_lp64
+                  PATHS
+                        ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                        ${MKL_ROOT_DIR}/lib/
+                )
+
+                FIND_LIBRARY(MKL_ILP_LIBRARY
+                  mkl_intel_ilp64
+                  PATHS
+                        ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                        ${MKL_ROOT_DIR}/lib/
+                )
+        ENDIF()
+
+        # Lapack
+        FIND_LIBRARY(MKL_LAPACK_LIBRARY
+          mkl_lapack
+          PATHS
+                ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                ${MKL_ROOT_DIR}/lib/
+        )
+
+        IF(NOT MKL_LAPACK_LIBRARY)
+                FIND_LIBRARY(MKL_LAPACK_LIBRARY
+                  mkl_lapack95_lp64
+                  PATHS
+                        ${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
+                        ${MKL_ROOT_DIR}/lib/
+                )
+        ENDIF()
+
+        # iomp5
+        IF("${MKL_ARCH_DIR}" STREQUAL "32")
+                IF(UNIX AND NOT APPLE)
+                        FIND_LIBRARY(MKL_IOMP5_LIBRARY
+                          iomp5
+                          PATHS
+                                ${MKL_ROOT_DIR}/../lib/ia32
+                        )
+                ELSE()
+                        SET(MKL_IOMP5_LIBRARY "") # no need for mac
+                ENDIF()
+        else()
+                IF(UNIX AND NOT APPLE)
+                        FIND_LIBRARY(MKL_IOMP5_LIBRARY
+                          iomp5
+                          PATHS
+                                ${MKL_ROOT_DIR}/../lib/intel64
+                        )
+                ELSE()
+                        SET(MKL_IOMP5_LIBRARY "") # no need for mac
+                ENDIF()
+        ENDIF()
+
+        foreach (MODEVAR ${MKL_MODE_VARIANTS})
+                foreach (THREADVAR ${MKL_THREAD_VARIANTS})
+                        if (MKL_CORE_LIBRARY AND MKL_${MODEVAR}_LIBRARY AND MKL_${THREADVAR}_LIBRARY)
+                                set(MKL_${MODEVAR}_${THREADVAR}_LIBRARIES
+                                        ${MKL_${MODEVAR}_LIBRARY} ${MKL_${THREADVAR}_LIBRARY} ${MKL_CORE_LIBRARY}
+                                        ${MKL_LAPACK_LIBRARY} ${MKL_IOMP5_LIBRARY})
+                                # message("${MODEVAR} ${THREADVAR} ${MKL_${MODEVAR}_${THREADVAR}_LIBRARIES}") # for debug
+                        endif()
+                endforeach()
+        endforeach()
+
+        SET(MKL_LIBRARIES ${MKL_LP_GNUTHREAD_LIBRARIES})
+        MARK_AS_ADVANCED(MKL_CORE_LIBRARY MKL_LP_LIBRARY MKL_ILP_LIBRARY
+                MKL_SEQUENTIAL_LIBRARY MKL_INTELTHREAD_LIBRARY MKL_GNUTHREAD_LIBRARY)
+ENDIF()
+
+INCLUDE(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MKL DEFAULT_MSG MKL_INCLUDE_DIR MKL_LIBRARIES)
+
+#if(MKL_FOUND)
+#        LINK_DIRECTORIES(${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}) # hack
+#endif()
+
+MARK_AS_ADVANCED(MKL_INCLUDE_DIR MKL_LIBRARIES)

cmake/FindTBB.cmake

@@ -64,21 +64,37 @@ if (WIN32)
     set(_TBB_LIB_MALLOC_DEBUG_NAME "${_TBB_LIB_MALLOC_NAME}_debug")
     if (MSVC71)
         set (_TBB_COMPILER "vc7.1")
+        set (TBB_COMPILER "vc7.1")
     endif(MSVC71)
     if (MSVC80)
         set(_TBB_COMPILER "vc8")
+        set(TBB_COMPILER "vc8")
     endif(MSVC80)
     if (MSVC90)
         set(_TBB_COMPILER "vc9")
+        set(TBB_COMPILER "vc9")
     endif(MSVC90)
     if(MSVC10)
         set(_TBB_COMPILER "vc10")
+        set(TBB_COMPILER "vc10")
     endif(MSVC10)
     if(MSVC11)
         set(_TBB_COMPILER "vc11")
+        set(TBB_COMPILER "vc11")
     endif(MSVC11)
     # Todo: add other Windows compilers such as ICL.
-    set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
+	if(TBB_ARCHITECTURE)
+		set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
+	elseif("$ENV{TBB_ARCH_PLATFORM}" STREQUAL "")
+		# Try to guess the architecture
+		if(CMAKE_CL_64)
+			set(_TBB_ARCHITECTURE intel64)
+			set(TBB_ARCHITECTURE intel64)
+		else()
+			set(_TBB_ARCHITECTURE ia32)
+			set(TBB_ARCHITECTURE ia32)
+		endif()
+	endif()
 endif (WIN32)
 
 if (UNIX)
@@ -159,7 +175,7 @@ if (NOT _TBB_INSTALL_DIR)
 endif (NOT _TBB_INSTALL_DIR)
 # sanity check
 if (NOT _TBB_INSTALL_DIR)
-    message ("ERROR: Unable to find Intel TBB install directory. ${_TBB_INSTALL_DIR}")
+    message (STATUS "TBB: Unable to find Intel TBB install directory. ${_TBB_INSTALL_DIR}")
 else (NOT _TBB_INSTALL_DIR)
 # finally: set the cached CMake variable TBB_INSTALL_DIR
 if (NOT TBB_INSTALL_DIR)
@@ -211,7 +227,10 @@ if ((NOT ${TBB_ARCHITECTURE} STREQUAL "") AND (NOT ${TBB_COMPILER} STREQUAL ""))
     # Jiri: It doesn't hurt to look in more places, so I store the hints from
     #       ENV{TBB_ARCH_PLATFORM} and the TBB_ARCHITECTURE and TBB_COMPILER
     #       variables and search them both.
-    set (_TBB_LIBRARY_DIR "${_TBB_INSTALL_DIR}/${_TBB_ARCHITECTURE}/${_TBB_COMPILER}/lib" ${_TBB_LIBRARY_DIR})
+    set (
+		_TBB_LIBRARY_DIR "${_TBB_INSTALL_DIR}/${_TBB_ARCHITECTURE}/${_TBB_COMPILER}/lib" ${_TBB_LIBRARY_DIR}
+		_TBB_LIBRARY_DIR "${_TBB_INSTALL_DIR}/lib/${_TBB_ARCHITECTURE}/${_TBB_COMPILER}" ${_TBB_LIBRARY_DIR}
+		)
 endif ((NOT ${TBB_ARCHITECTURE} STREQUAL "") AND (NOT ${TBB_COMPILER} STREQUAL ""))
 
 # GvdB: Mac OS X distribution places libraries directly in lib directory.
@@ -269,8 +288,8 @@ if (TBB_INCLUDE_DIR)
 endif (TBB_INCLUDE_DIR)
 
 if (NOT TBB_FOUND)
-    message("ERROR: Intel TBB NOT found!")
+    message(STATUS "TBB: Intel TBB NOT found!")
-    message(STATUS "Looked for Threading Building Blocks in ${_TBB_INSTALL_DIR}")
+    message(STATUS "TBB: Looked for Threading Building Blocks in ${_TBB_INSTALL_DIR}")
     # do only throw fatal, if this pkg is REQUIRED
     if (TBB_FIND_REQUIRED)
         message(FATAL_ERROR "Could NOT find TBB library.")

cmake/GtsamBuildTypes.cmake

@@ -3,14 +3,14 @@
 list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")
 
 # Default to Release mode
-if(NOT FIRST_PASS_DONE AND NOT CMAKE_BUILD_TYPE)
+if(NOT FIRST_PASS_DONE AND NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
   set(CMAKE_BUILD_TYPE "Release" CACHE STRING
       "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo."
       FORCE)
 endif()
 
 # Add option for using build type postfixes to allow installing multiple build modes
-if(MSVC)
+if(MSVC OR XCODE_VERSION)
   option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
 else()
   option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" OFF)
@@ -21,27 +21,29 @@ if(NOT FIRST_PASS_DONE)
   if(MSVC)
     set(CMAKE_C_FLAGS_DEBUG            "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
     set(CMAKE_CXX_FLAGS_DEBUG          "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
-    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /d2Zi+ /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /d2Zi+ /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
     set(CMAKE_C_FLAGS_RELEASE          "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during release builds." FORCE)
     set(CMAKE_CXX_FLAGS_RELEASE        "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during release builds." FORCE)
     set(CMAKE_C_FLAGS_TIMING           "${CMAKE_C_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_CXX_FLAGS_TIMING         "${CMAKE_CXX_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     set(CMAKE_SHARED_LINKER_FLAGS_TIMING  "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
-    mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
+    set(CMAKE_MODULE_LINKER_FLAGS_TIMING  "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
+    mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING CMAKE_MODULE_LINKER_FLAGS_TIMING)
     set(CMAKE_C_FLAGS_PROFILING        "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
     set(CMAKE_CXX_FLAGS_PROFILING      "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
     set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
-    mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)
+    set(CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
+    mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING CMAKE_MODULE_LINKER_FLAGS_PROFILING)
   else()
     set(CMAKE_C_FLAGS_DEBUG            "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
     set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
     set(CMAKE_C_FLAGS_RELWITHDEBINFO   "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_C_FLAGS_RELEASE          "${CMAKE_C_FLAGS_RELEASE} -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_C_FLAGS_RELEASE          "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELEASE        "${CMAKE_CXX_FLAGS_RELEASE} -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELEASE        "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
     set(CMAKE_C_FLAGS_TIMING           "${CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_CXX_FLAGS_TIMING         "${CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
@@ -55,6 +57,13 @@ if(NOT FIRST_PASS_DONE)
   endif()
 endif()
 
+# Clang on Mac uses a template depth that is less than standard and is too small
+if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+	if(NOT "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0")
+		add_definitions(-ftemplate-depth=1024)
+	endif()
+endif()
+
 # Set up build type library postfixes
 if(GTSAM_BUILD_TYPE_POSTFIXES)
 	foreach(build_type Debug Timing RelWithDebInfo MinSizeRel)
@@ -65,20 +74,23 @@ endif()
 
 # Make common binary output directory when on Windows
 if(WIN32)
-  set(RUNTIME_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
+  set(RUNTIME_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin")
-  set(EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
+  set(EXECUTABLE_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin")
-  set(LIBRARY_OUTPUT_PATH "${PROJECT_BINARY_DIR}/lib")
+  set(LIBRARY_OUTPUT_PATH "${CMAKE_BINARY_DIR}/lib")
 endif()
 
 # Set up build type list for cmake-gui
-if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
+if(NOT "${CMAKE_BUILD_TYPE}" STREQUAL "")
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
+	if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
+		set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
+	endif()
 endif()
 
 # Set up build types for MSVC and XCode
-if(CMAKE_CONFIGURATION_TYPES AND NOT FIRST_PASS_DONE)
+if(NOT FIRST_PASS_DONE)
   set(CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
       CACHE STRING "Build types available to MSVC and XCode" FORCE)
+  mark_as_advanced(FORCE CMAKE_CONFIGURATION_TYPES)
 endif()
 
 # Check build types

cmake/GtsamMakeConfigFile.cmake

@@ -2,19 +2,29 @@
 
 function(GtsamMakeConfigFile PACKAGE_NAME)
 
-  if(WIN32 AND NOT CYGWIN)
+	if(WIN32 AND NOT CYGWIN)
-    set(DEF_INSTALL_CMAKE_DIR CMake)
+		set(DEF_INSTALL_CMAKE_DIR CMake)
-  else()
+	else()
-    set(DEF_INSTALL_CMAKE_DIR lib/cmake/${PACKAGE_NAME})
+		set(DEF_INSTALL_CMAKE_DIR lib/cmake/${PACKAGE_NAME})
-  endif()
+	endif()
 
-  file(RELATIVE_PATH CONF_REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/include")
+	# Configure extra file
-  file(RELATIVE_PATH CONF_REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/lib")
+	if(NOT "${ARGV1}" STREQUAL "")
-  configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" @ONLY)
+		get_filename_component(name "${ARGV1}" NAME_WE)
-  message(STATUS "Wrote ${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake")
+		set(EXTRA_FILE "${name}.cmake")
+		configure_file(${ARGV1} "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" @ONLY)
+		install(FILES "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}")
+	else()
+		set(EXTRA_FILE "_does_not_exist_")
+	endif()
 
-  # Install config and exports files (for find scripts)
+	file(RELATIVE_PATH CONF_REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/include")
-  install(FILES "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}")
+	file(RELATIVE_PATH CONF_REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/lib")
-  install(EXPORT ${PACKAGE_NAME}-exports DESTINATION ${DEF_INSTALL_CMAKE_DIR})
+	configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" @ONLY)
+	message(STATUS "Wrote ${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake")
+
+	# Install config and exports files (for find scripts)
+	install(FILES "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}")
+	install(EXPORT ${PACKAGE_NAME}-exports DESTINATION ${DEF_INSTALL_CMAKE_DIR})
 
 endfunction()

cmake/GtsamMatlabWrap.cmake

@@ -1,9 +1,9 @@
 # Set up cache options
 option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
 set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
-set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox")
+set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox")
 if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
-	set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox")
+	set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
 endif()
 
 # GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static
@@ -28,11 +28,183 @@ endif()
 # finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
 # on the system path.
 list(REVERSE matlab_bin_directories) # Reverse list so the highest version (sorted alphabetically) is preferred
-find_program(MEX_COMMAND ${mex_program_name}
+find_program(mex_command ${mex_program_name}
 	PATHS ${matlab_bin_directories} ENV PATH
-	DOC "Command to use for executing mex (if on path, 'mex' will work)"
+	NO_DEFAULT_PATH)
-	NO_SYSTEM_ENVIRONMENT_PATH)
+mark_as_advanced(FORCE mex_command)
+# Now that we have mex, trace back to find the Matlab installation root
+get_filename_component(mex_command "${mex_command}" REALPATH)
+get_filename_component(mex_path "${mex_command}" PATH)
+get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
+set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)")
+
+
+# User-friendly wrapping function.  Builds a mex module from the provided
+# interfaceHeader.  For example, for the interface header /path/to/gtsam.h,
+# this will build the wrap module 'gtsam'.
+# Params:
+#   interfaceHeader  : Absolute or relative path to the interface definition file
+#   linkLibraries    : All dependent CMake target names, library names, or full library paths
+#   extraIncludeDirs : Extra include directories, in addition to those already passed to include_directories(...)
+#   extraMexFlags    : Any additional compiler flags
+function(wrap_and_install_library interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
+	wrap_library_internal("${interfaceHeader}" "${otherLibraries}" "${extraIncludeDirs}" "${mexFlags}")
+	install_wrapped_library_internal("${interfaceHeader}")
+endfunction()
+
+
+function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
+	if(UNIX AND NOT APPLE)
+		if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+			set(mexModuleExt mexa64)
+		else()
+			set(mexModuleExt mexglx)
+		endif()
+	elseif(APPLE)
+		set(mexModuleExt mexmaci64)
+	elseif(MSVC)
+		if(CMAKE_CL_64)
+			set(mexModuleExt mexw64)
+		else()
+			set(mexModuleExt mexw32)
+		endif()
+	endif()
+		
+	# Wrap codegen interface
+    #usage: wrap interfacePath moduleName toolboxPath headerPath
+    #  interfacePath : *absolute* path to directory of module interface file
+    #  moduleName    : the name of the module, interface file must be called moduleName.h
+    #  toolboxPath   : the directory in which to generate the wrappers
+    #  headerPath    : path to matlab.h 
 	
+	# Extract module name from interface header file name
+	get_filename_component(interfaceHeader "${interfaceHeader}" ABSOLUTE)
+	get_filename_component(modulePath "${interfaceHeader}" PATH)
+	get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
+	
+	# Paths for generated files
+	set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
+	set(generated_cpp_file "${PROJECT_BINARY_DIR}/wrap/${moduleName}/${moduleName}_wrapper.cpp")
+	set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex")
+	
+	message(STATUS "Building wrap module ${moduleName}")
+	
+	# Find matlab.h in GTSAM
+	if("${PROJECT_NAME}" STREQUAL "GTSAM")
+		set(matlab_h_path "${PROJECT_SOURCE_DIR}")
+	else()
+		if(NOT GTSAM_INCLUDE_DIR)
+			message(FATAL_ERROR "You must call find_package(GTSAM) before using wrap")
+		endif()
+		list(GET GTSAM_INCLUDE_DIR 0 installed_includes_path)
+		set(matlab_h_path "${installed_includes_path}/wrap")
+	endif()
+	
+	# Add -shared or -static suffix to targets
+	set(correctedOtherLibraries "")
+	set(otherLibraryTargets "")
+	foreach(lib ${moduleName} ${otherLibraries})
+		if(TARGET ${lib})
+			list(APPEND correctedOtherLibraries ${lib})
+			list(APPEND otherLibraryTargets ${lib})
+		elseif(TARGET ${lib}-shared) # Prefer the shared library if we have both shared and static)
+			list(APPEND correctedOtherLibraries ${lib}-shared)
+			list(APPEND otherLibraryTargets ${lib}-shared)
+		elseif(TARGET ${lib}-static)
+			list(APPEND correctedOtherLibraries ${lib}-static)
+			list(APPEND otherLibraryTargets ${lib}-static)
+		else()
+			list(APPEND correctedOtherLibraries ${lib})
+		endif()
+	endforeach()
+
+	# Set up generation of module source file
+	file(MAKE_DIRECTORY "${generated_files_path}")
+	add_custom_command(
+		OUTPUT ${generated_cpp_file}
+		DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets}
+        COMMAND 
+            wrap
+            ${modulePath}
+            ${moduleName} 
+            ${generated_files_path} 
+            ${matlab_h_path} 
+		VERBATIM
+		WORKING_DIRECTORY ${generated_files_path})
+		
+	# Set up building of mex module
+	string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}")
+	string(REPLACE ";" " " mexFlagsSpaced "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
+	add_library(${moduleName}_wrapper MODULE ${generated_cpp_file} ${interfaceHeader})
+	target_link_libraries(${moduleName}_wrapper ${correctedOtherLibraries})
+	set_target_properties(${moduleName}_wrapper PROPERTIES
+		OUTPUT_NAME              "${moduleName}_wrapper"
+		PREFIX                   ""
+		SUFFIX                   ".${mexModuleExt}"
+		LIBRARY_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
+		ARCHIVE_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
+		RUNTIME_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
+		CLEAN_DIRECT_OUTPUT 1)
+	set_property(TARGET ${moduleName}_wrapper APPEND_STRING PROPERTY COMPILE_FLAGS " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32")
+	set_property(TARGET ${moduleName}_wrapper APPEND PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs})
+	# Disable build type postfixes for the mex module - we install in different directories for each build type instead
+	foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
+		string(TOUPPER "${build_type}" build_type_upper)
+		set_target_properties(${moduleName}_wrapper PROPERTIES ${build_type_upper}_POSTFIX "")
+	endforeach()
+	# Set up platform-specific flags
+	if(MSVC)
+		if(CMAKE_CL_64)
+			set(mxLibPath "${MATLAB_ROOT}/extern/lib/win64/microsoft")
+		else()
+			set(mxLibPath "${MATLAB_ROOT}/extern/lib/win32/microsoft")
+		endif()
+		target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.lib" "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib")
+		set_target_properties(${moduleName}_wrapper PROPERTIES LINK_FLAGS "/export:mexFunction")
+		set_property(SOURCE "${generated_cpp_file}" APPEND PROPERTY COMPILE_FLAGS "/bigobj")
+	elseif(APPLE)
+		set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
+		target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.dylib" "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
+	endif()
+
+    # Hacking around output issue with custom command
+    # Deletes generated build folder 
+    add_custom_target(wrap_${moduleName}_distclean 
+	    COMMAND cmake -E remove_directory ${generated_files_path}
+		COMMAND cmake -E remove_directory ${compiled_mex_modules_root})
+endfunction()
+
+function(install_wrapped_library_internal interfaceHeader)
+	get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
+	set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
+
+    # NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash on the directory name
+	# here prevents creating the top-level module name directory in the destination.
+	message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
+	if(GTSAM_BUILD_TYPE_POSTFIXES)
+		foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
+			string(TOUPPER "${build_type}" build_type_upper)
+			if("${build_type_upper}" STREQUAL "RELEASE")
+				set(build_type_tag "") # Don't create release mode tag on installed directory
+			else()
+				set(build_type_tag "${build_type}")
+			endif()
+			# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one
+			get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
+			get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
+			install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING PATTERN "*.m")
+			install(TARGETS ${moduleName}_wrapper
+				LIBRARY DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
+				RUNTIME DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}")
+		endforeach()
+	else()
+		install(DIRECTORY "${generated_files_path}/" DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m")
+		install(TARGETS ${moduleName}_wrapper
+			LIBRARY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}
+			RUNTIME DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
+	endif()
+endfunction()
+
 
 # Function to setup codegen and building of the wrap toolbox
 #
@@ -44,208 +216,19 @@ find_program(MEX_COMMAND ${mex_program_name}
 #  toolboxPath      : the directory in which to generate/build wrappers
 #  wrap_header_path : path to the installed wrap header  
 function(wrap_library_generic moduleName mexFlags modulePath otherLibraries toolbox_path wrap_header_path)
-    
+
-    set(module_markup_header_file "${moduleName}.h")
+	if(NOT "${CMAKE_PROJECT_NAME}" STREQUAL "GTSAM")
-    set(module_markup_header_path "${CMAKE_CURRENT_SOURCE_DIR}/${modulePath}/${module_markup_header_file}")
+		message("Your project uses wrap_library or wrap_library_generic - this is deprecated, please use the more user-friendly function wrap_and_install_library")
-	
-	# Add wrap cpp file first
-	set(mexSources "")
-	list(APPEND mexSources ${moduleName}_wrapper.cpp)
-	
-	# Add boost libraries
-	string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper)
-	if("${build_type_toupper}" STREQUAL "DEBUG")
-		list(APPEND otherLibraries ${Boost_SERIALIZATION_LIBRARY_DEBUG} ${Boost_FILESYSTEM_LIBRARY_DEBUG}
-			${Boost_SYSTEM_LIBRARY_DEBUG} ${Boost_THREAD_LIBRARY_DEBUG} ${Boost_DATE_TIME_LIBRARY_DEBUG}
-			${Boost_REGEX_LIBRARY_DEBUG})
-		if(Boost_TIMER_LIBRARY_DEBUG AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
-			list(APPEND otherLibraries ${Boost_TIMER_LIBRARY_DEBUG} ${Boost_CHRONO_LIBRARY_DEBUG})
-			if(GTSAM_MEX_BUILD_STATIC_MODULE)
-				list(APPEND otherLibraries -Wl,--no-as-needed -lrt)
-			endif()
-		endif()
-	else()
-		list(APPEND otherLibraries ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE}
-			${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}
-			${Boost_REGEX_LIBRARY_RELEASE})
-		if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
-			list(APPEND otherLibraries ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE})
-			if(GTSAM_MEX_BUILD_STATIC_MODULE)
-				list(APPEND otherLibraries -Wl,--no-as-needed -lrt)
-			endif()
-		endif()
 	endif()
 
-	# Sort otherLibraries into files and targets, add -shared or -static to other dependency library names
+	# Append module name to link libraries to keep original behavior
-	set(otherLibraryTargets "")
+	list(APPEND otherLibraries ${moduleName})
-	set(otherLibraryLinks "")
-	set(otherLibraryArchives "")
-	foreach(lib ${moduleName} ${otherLibraries})
-		if(TARGET ${lib})
-			list(APPEND otherLibraryTargets ${lib})
-		elseif(TARGET ${lib}-shared) # Prefer the shared library if we have both shared and static
-			list(APPEND otherLibraryTargets ${lib}-shared)
-		elseif(TARGET ${lib}-static)
-			list(APPEND otherLibraryTargets ${lib}-static)
-		else()
-			if(${lib} MATCHES "^.+\\.a$")
-				list(APPEND otherLibraryArchives ${lib})
-			else()
-				list(APPEND otherLibraryLinks ${lib})
-			endif()
-		endif()
-	endforeach()
 	
-	# Get path to libraries with current build type
+	# Set up arguments
-	foreach(target ${otherLibraryTargets})
+	set(interfaceHeader ${modulePath}/${moduleName}.h)
-		if(GTSAM_MEX_BUILD_STATIC_MODULE)
-			# If building the wrapper statically, add the target's sources to the mex sources
-			get_target_property(librarySources ${target} SOURCES)
-			list(APPEND mexSources ${librarySources})
-		else()
-			# If not building wrapper staticically, link to the target library
-      get_target_property(libraryFile ${target} LOCATION_${build_type_toupper})
-      get_target_property(targetType ${target} TYPE)
-      if(WIN32 AND NOT targetType STREQUAL STATIC_LIBRARY)
-        # On Windows with a shared library, we link to the import library file
-        get_filename_component(libraryDir ${libraryFile} PATH)
-        get_filename_component(libraryName ${libraryFile} NAME_WE)
-		get_filename_component(oneUpDir ${libraryDir} NAME)
-		string(TOUPPER "${oneUpDir}" oneUpDir)
-		if("${oneUpDir}" STREQUAL BIN OR "${oneUpDir}" STREQUAL LIB)
-			# One level up is 'bin' or 'lib' so we do not have an extra
-			# subdirectory for the build configuration.
-			set(libraryFile "${libraryDir}/../lib/${libraryName}.lib")
-		else()
-			# One level up was neither 'bin' nor 'lib' so assume we also
-			# have a subdirectory for the build configuration.
-			set(libraryFile "${libraryDir}/../../lib/${build_type_toupper}/${libraryName}.lib")
-		endif()
-      endif()
-			list(APPEND otherLibraryLinks ${libraryFile})
-		endif()
-	endforeach()
 	
-	# Bad hack - if static wrapper and this is GTSAM, add colamd to the include path
+	# Call internal function
-    if(GTSAM_MEX_BUILD_STATIC_MODULE AND (${moduleName} STREQUAL "gtsam" OR ${moduleName} STREQUAL "gtsam_unstable"))
+	wrap_library_internal("${interfaceHeader}" "${otherLibraries}" "" "${mexFlags}")
-		list(APPEND mexFlags
-			"-I${PROJECT_SOURCE_DIR}/gtsam/3rdparty/CCOLAMD/Include" "-I${PROJECT_SOURCE_DIR}/gtsam/3rdparty/UFconfig")
-	endif()
-	
-	# If using Boost shared libs, set up auto linking for shared libs
-	if(NOT Boost_USE_STATIC_LIBS)
-		list(APPEND mexFlags "-DBOOST_ALL_DYN_LINK")
-	endif()
-
-	# Add the CXXFLAGS from building the library
-	if(MSVC)
-		set(compile_flag_var "COMPFLAGS")
-		set(link_flag_var "LINKFLAGS")
-		set(cxx_flags_extra "/bigobj")
-	else()
-		set(compile_flag_var "CXXFLAGS")
-		set(link_flag_var "LDFLAGS")
-		set(cxx_flags_extra "")
-	endif()
-	list(APPEND mexFlags "${compile_flag_var}=$${compile_flag_var} ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}} ${cxx_flags_extra}")
-	
-	# If building a static module on UNIX, extract dependent .a libraries and add their .o files
-	if(UNIX AND GTSAM_MEX_BUILD_STATIC_MODULE)
-		file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/wrap/external_archives)
-		foreach(archive ${otherLibraryArchives})
-			get_filename_component(archive_name ${archive} NAME_WE)
-			set(extraction_dir ${CMAKE_BINARY_DIR}/wrap/external_archives/${archive_name})
-			file(MAKE_DIRECTORY ${extraction_dir})
-			# Extract archive
-			execute_process(
-				COMMAND ar x ${archive}
-				WORKING_DIRECTORY ${extraction_dir})
-			# Get list of .o's in archive
-			execute_process(
-				COMMAND ar t ${archive}
-				OUTPUT_VARIABLE object_files OUTPUT_STRIP_TRAILING_WHITESPACE)
-			string(REPLACE "\n" ";" object_list ${object_files})
-			set(object_list_absolute "")
-			foreach(object ${object_list})
-				list(APPEND object_list_absolute ${extraction_dir}/${object})
-			endforeach()
-			list(APPEND mexSources ${object_list_absolute})
-		endforeach()
-		set(otherLibraryArchives "")
-	endif()
-
-	# Add libraries to command line
-	string(REPLACE ";" " " otherLibraryArchivesSpaced "${otherLibraryArchives}")
-	list(APPEND mexFlags "${link_flag_var}=$${link_flag_var} ${otherLibraryArchivesSpaced}")
-	list(APPEND mexFlags ${otherLibraryLinks})
-	
-	# Add -g if debug mode
-	if(${build_type_toupper} STREQUAL DEBUG OR ${build_type_toupper} STREQUAL RELWITHDEBINFO)
-		list(APPEND mexFlags -g)
-	endif()
-
-	# Verbose mex - print mex compilation flags to help notice flag problems
-	list(APPEND mexFlags -v)
-	
-	# Add sources
-	set(mexSourcesFiltered "")
-	foreach(src ${mexSources})
-		if(src MATCHES "^.+\\.cpp$" OR src MATCHES "^.+\\.c$" OR src MATCHES "^.+\\.o$")
-			list(APPEND mexSourcesFiltered ${src})
-		endif()
-	endforeach()
-	set(mexFlags ${mexSourcesFiltered} ${mexFlags})
-		
-	string(REPLACE ";" "' '" mexFlagsForDisplay "${mexFlags}")
-    message(STATUS "Building Matlab Wrapper, mexFlags: [ '${mexFlagsForDisplay}' ]")
-    
-	# Wrap codegen interface
-    #usage: wrap interfacePath moduleName toolboxPath headerPath
-    #  interfacePath : *absolute* path to directory of module interface file
-    #  moduleName    : the name of the module, interface file must be called moduleName.h
-    #  toolboxPath   : the directory in which to generate the wrappers
-    #  headerPath    : path to matlab.h 
-	    
-    # Code generation command
-    # FIXME: doesn't get cleaned properly because cmake doesn't track the dependency
-    # TODO: convert to a custom_command with output specified
-	get_target_property(wrap_LOCATION wrap LOCATION_${CMAKE_BUILD_TYPE})
-    add_custom_target(wrap_${moduleName} 
-        ALL             # Forces wrap to always be run, but no files are touched if they don't change  
-        COMMAND 
-            ${wrap_LOCATION}
-            ${CMAKE_CURRENT_SOURCE_DIR}/${modulePath}
-            ${moduleName} 
-            ${toolbox_path} 
-            ${wrap_header_path} 
-			VERBATIM)
-    add_dependencies(wrap_${moduleName} wrap ${module_markup_header_path})
-    
-    # Hacking around output issue with custom command
-    # Deletes generated build folder 
-    add_custom_target(wrap_${moduleName}_distclean 
-	COMMAND
-		cmake -E remove_directory ${toolbox_path})
-
-	# Make building mex binaries a part of the all (and install) target 
-	set(build_all "ALL")
-	
-	# If building wrapper statically, we compile all the library sources
-	# with mex, so need no extra dependencies, but if not building statically,
-	# we depend on the libraries since we will link to them.
-	if(GTSAM_MEX_BUILD_STATIC_MODULE)
-		set(wrap_build_dependencies "")
-	else()
-		set(wrap_build_dependencies ${moduleTarget} ${otherLibraryTargets})
-	endif()
-
-	# Actual build target for building mex files
-	add_custom_target(wrap_${moduleName}_build ${build_all}
-		COMMAND "${MEX_COMMAND}" ${mexFlags}
-		VERBATIM
-		WORKING_DIRECTORY ${toolbox_path})
-	add_dependencies(wrap_${moduleName}_build wrap_${moduleName} ${wrap_build_dependencies})
-
 endfunction(wrap_library_generic)
 
 # Function to setup codegen, building and installation of the wrap toolbox
@@ -260,15 +243,39 @@ endfunction(wrap_library_generic)
 #  otherLibraries  : list of library targets this should depend on
 function(wrap_library moduleName mexFlags modulePath otherLibraries)
     # Toolbox generation path goes in build folder
-    set(toolbox_base_path ${CMAKE_BINARY_DIR}/wrap)
+    set(toolbox_base_path ${PROJECT_BINARY_DIR}/wrap)
     set(toolbox_path ${toolbox_base_path}/${moduleName})
     
     # Call generic version of function
     wrap_library_generic("${moduleName}" "${mexFlags}" "${modulePath}" "${otherLibraries}" "${toolbox_path}" "${GTSAM_WRAP_HEADER_PATH}")
+	
+	install_wrapped_library_internal("${modulePath}/${moduleName}.h")
     
-    # NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash on the directory name
-	# here prevents creating the top-level module name directory in the destination.
-	message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
-	install(DIRECTORY ${toolbox_path}/ DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m")
-	install(DIRECTORY ${toolbox_path}/ DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.mex*")
 endfunction(wrap_library)
+
+# Helper function to install MATLAB scripts and handle multiple build types where the scripts
+# should be installed to all build type toolboxes
+function(install_matlab_scripts source_directory patterns)
+	set(patterns_args "")
+	foreach(pattern ${patterns})
+		list(APPEND patterns_args PATTERN "${pattern}")
+	endforeach()
+	if(GTSAM_BUILD_TYPE_POSTFIXES)
+		foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
+			string(TOUPPER "${build_type}" build_type_upper)
+			if("${build_type_upper}" STREQUAL "RELEASE")
+				set(build_type_tag "") # Don't create release mode tag on installed directory
+			else()
+				set(build_type_tag "${build_type}")
+			endif()
+			# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one
+			get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
+			get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
+			install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING ${patterns_args} PATTERN ".svn" EXCLUDE)
+		endforeach()
+	else()
+		install(DIRECTORY "${source_directory}" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING ${patterns_args} PATTERN ".svn" EXCLUDE)
+	endif()
+
+endfunction()
+

cmake/GtsamPythonWrap.cmake

@@ -0,0 +1,67 @@
+#Setup cache options
+option(GTSAM_BUILD_PYTHON "Build Python wrapper statically (increases build time)" OFF)
+set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation")
+set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python")
+if(NOT GTSAM_PYTHON_INSTALL_PATH)
+  set(GTSAM_PYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/python")
+endif() 
+
+#Author: Paul Furgale Modified by Andrew Melim
+function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY)
+  # Boost
+  find_package(Boost COMPONENTS python filesystem system REQUIRED)
+  include_directories(${Boost_INCLUDE_DIRS})
+
+  # Find Python
+  FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+
+  IF(APPLE)
+    # The apple framework headers don't include the numpy headers for some reason.
+    GET_FILENAME_COMPONENT(REAL_PYTHON_INCLUDE ${PYTHON_INCLUDE_DIRS} REALPATH)
+    IF( ${REAL_PYTHON_INCLUDE} MATCHES Python.framework)
+      message("Trying to find extra headers for numpy from ${REAL_PYTHON_INCLUDE}.")
+      message("Looking in ${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy")
+      FIND_PATH(NUMPY_INCLUDE_DIR arrayobject.h
+  ${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy
+  ${REAL_PYTHON_INCLUDE}/numpy
+  )
+      IF(${NUMPY_INCLUDE_DIR} MATCHES NOTFOUND)
+  message("Unable to find numpy include directories: ${NUMPY_INCLUDE_DIR}")
+      ELSE()
+  message("Found headers at ${NUMPY_INCLUDE_DIR}")
+  INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR})
+  INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR}/..)
+      ENDIF()
+    ENDIF()
+  ENDIF(APPLE)
+
+
+  # Create a static library version
+  add_library(${TARGET_NAME} SHARED ${ARGN})
+
+  target_link_libraries(${TARGET_NAME} ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} gtsam-shared)
+      set_target_properties(${TARGET_NAME} PROPERTIES 
+          OUTPUT_NAME         ${TARGET_NAME}
+          CLEAN_DIRECT_OUTPUT 1
+          VERSION             1
+          SOVERSION           0)
+
+
+  # On OSX and Linux, the python library must end in the extension .so. Build this
+  # filename here.
+  get_property(PYLIB_OUTPUT_FILE TARGET ${TARGET_NAME} PROPERTY LOCATION)
+  get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
+  set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.so)
+
+  # Cause the library to be output in the correct directory.
+  add_custom_command(TARGET ${TARGET_NAME}
+    POST_BUILD
+    COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+    COMMENT "Copying library files to python directory" )
+
+  get_directory_property(AMCF ADDITIONAL_MAKE_CLEAN_FILES)
+  list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME})
+  set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}") 
+endfunction(wrap_python)

cmake/GtsamTesting.cmake

@@ -136,7 +136,7 @@ macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name l
 				endif()
 				
 				# Add TOPSRCDIR
-				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${CMAKE_SOURCE_DIR}\"")
+				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
 
 				# Disable building during make all/install
 				if (GTSAM_DISABLE_TESTS_ON_INSTALL)
@@ -184,7 +184,7 @@ macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name l
 		set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
 			
 		# Add TOPSRCDIR
-		set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${CMAKE_SOURCE_DIR}\"")
+		set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
 			
 		# Add test
 		add_dependencies(${target_prefix}.${group} ${script_bin})

cmake/example_project/CMakeLists.txt

@@ -18,7 +18,7 @@ project(myproject CXX C)
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${PROJECT_SOURCE_DIR}/cmake")
 
 # Ensure that local folder is searched before library folders
-include_directories(BEFORE "${CMAKE_SOURCE_DIR}")
+include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
 
 # Load build type flags and default to Debug mode
 include(GtsamBuildTypes)
@@ -115,7 +115,7 @@ install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib )
 # Note the need for a full path
 set(disabled_tests 
     "dummy"
-    #"${CMAKE_SOURCE_DIR}/myproject/geometry/tests/testCovarianceEllipse.cpp"
+    #"${PROJECT_SOURCE_DIR}/myproject/geometry/tests/testCovarianceEllipse.cpp"
 )
 list(REMOVE_ITEM myproject_tests_source ${disabled_tests})
 

cmake/example_project_simple/CMakeLists.txt

@@ -0,0 +1,38 @@
+# This file should be used as a template for creating new projects using the CMake tools
+# This project has the following features
+#    - GTSAM linking
+#    - Unit tests via CppUnitLite
+#    - Scripts
+
+###################################################################################
+# To create your own project, replace "myproject" with the actual name of your project
+cmake_minimum_required(VERSION 2.6)
+enable_testing()
+project(myproject CXX C)               
+
+# Add the cmake subfolder to the cmake module path - necessary to use macros
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
+
+# Ensure that local folder is searched before library folders
+include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
+
+# Load build type flags and default to Debug mode
+include(GtsamBuildTypes)
+
+###################################################################################
+# Find GTSAM components
+find_package(GTSAM REQUIRED) # Uses installed package
+include_directories(${GTSAM_INCLUDE_DIR})
+
+###################################################################################
+# Build static library from common sources
+add_library(${PROJECT_NAME} STATIC ${PROJECT_NAME}/MySourceFiles.cpp)
+target_link_libraries(${PROJECT_NAME} gtsam-shared)
+
+###################################################################################
+# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
+gtsam_add_subdir_tests(${PROJECT_NAME} "${PROJECT_NAME}" "${PROJECT_NAME}" "")
+
+###################################################################################
+# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
+gtsam_add_executables("${PROJECT_NAME}/myScripts.cpp" "${PROJECT_NAME}" "${PROJECT_NAME}" "")

doc/.gitignore

@@ -0,0 +1 @@
+/*.DS_Store

doc/images/.gitignore

@@ -0,0 +1 @@
+/*.DS_Store

examples/.gitignore

@@ -0,0 +1 @@
+/*.DS_Store

examples/CMakeLists.txt

@@ -4,6 +4,16 @@ endif()
 
 # Build example executables
 FILE(GLOB example_srcs "*.cpp")
+
+set (excluded_examples #"")
+    "${CMAKE_CURRENT_SOURCE_DIR}/DiscreteBayesNet_FG.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_chain.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_small.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/elaboratePoint2KalmanFilter.cpp"
+)
+
+list(REMOVE_ITEM example_srcs ${excluded_examples})
+
 foreach(example_src ${example_srcs} )
     get_filename_component(example_base ${example_src} NAME_WE)
     set( example_bin ${example_base} )

examples/CameraResectioning.cpp

@@ -70,7 +70,7 @@ int main(int argc, char* argv[]) {
 
   /* 2. add factors to the graph */
   // add measurement factors
-  SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.5, 0.5));
+  SharedDiagonal measurementNoise = Diagonal::Sigmas((Vector(2) << 0.5, 0.5));
   boost::shared_ptr<ResectioningFactor> factor;
   graph.push_back(
       boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,

examples/CreateSFMExampleData.cpp

@@ -0,0 +1,112 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    CreateSFMExampleData.cpp
+ * @brief   Create some example data that for inclusion in the data folder
+ * @author  Frank Dellaert
+ */
+
+#include <gtsam/slam/dataset.h>
+#include <gtsam/geometry/CalibratedCamera.h>
+
+#include <boost/foreach.hpp>
+#include <boost/assign/std/vector.hpp>
+
+using namespace boost::assign;
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+
+void createExampleBALFile(const string& filename, const vector<Point3>& P,
+    const Pose3& pose1, const Pose3& pose2, const Cal3Bundler& K =
+        Cal3Bundler()) {
+
+  // Class that will gather all data
+  SfM_data data;
+
+  // Create two cameras
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 identity, aPb(aRb, aTb);
+  data.cameras.push_back(SfM_Camera(pose1, K));
+  data.cameras.push_back(SfM_Camera(pose2, K));
+
+  BOOST_FOREACH(const Point3& p, P) {
+
+    // Create the track
+    SfM_Track track;
+    track.p = p;
+    track.r = 1;
+    track.g = 1;
+    track.b = 1;
+
+    // Project points in both cameras
+    for (size_t i = 0; i < 2; i++)
+    track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
+
+    // Add track to data
+    data.tracks.push_back(track);
+  }
+
+  writeBAL(filename, data);
+}
+
+/* ************************************************************************* */
+
+void create5PointExample1() {
+
+  // Create two cameras poses
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need at least 5 points
+  vector<Point3> P;
+  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
+  Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/5pointExample1.txt";
+  createExampleBALFile(filename, P, pose1, pose2);
+}
+
+/* ************************************************************************* */
+
+void create5PointExample2() {
+
+  // Create two cameras poses
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(10, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need at least 5 points
+  vector<Point3> P;
+  P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), //
+  Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80), Point3(20, -50, 80);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/5pointExample2.txt";
+  Cal3Bundler K(500, 0, 0);
+  createExampleBALFile(filename, P, pose1, pose2,K);
+}
+
+/* ************************************************************************* */
+
+int main(int argc, char* argv[]) {
+  create5PointExample1();
+  create5PointExample2();
+  return 0;
+}
+
+/* ************************************************************************* */
+

examples/Data/.gitignore

@@ -0,0 +1 @@
+/*.DS_Store

examples/Data/5pointExample1.txt

@@ -0,0 +1,53 @@
+2 5 10
+
+0 0 0 -0
+1 0 -6.123233995736766344e-18 -0.10000000000000000555
+0 1 -0.10000000000000000555 -0
+1 1 -1.2246467991473532688e-17 -0.2000000000000000111
+0 2 0.10000000000000000555 -0
+1 2 0 -0
+0 3 0 -1
+1 3 1 -0.20000000000000006661
+0 4 0 1
+1 4 -1 -0.19999999999999995559
+
+3.141592653589793116
+0
+0
+-0
+0
+0
+1
+0
+0
+
+2.2214414690791830509
+2.2214414690791826068
+0
+-6.123233995736766344e-18
+-0.10000000000000000555
+0
+1
+0
+0
+
+0
+0
+1
+
+-0.10000000000000000555
+0
+1
+
+0.10000000000000000555
+0
+1
+
+0
+0.5
+0.5
+
+0
+-0.5
+0.5
+

examples/Data/5pointExample2.txt

@@ -0,0 +1,65 @@
+2 7 14
+
+0 0 0 -0
+1 0 -3.0616169978683830426e-15 -50
+0 1 -50 -0
+1 1 -6.1232339957367660852e-15 -100
+0 2 50 -0
+1 2 0 -0
+0 3 0 -500
+1 3 500 -100.00000000000002842
+0 4 0 500
+1 4 -500 -99.999999999999957367
+0 5 -125 -0
+1 5 -1.1481063742006437494e-14 -187.5
+0 6 125 312.5
+1 6 -312.5 62.500000000000028422
+
+3.141592653589793116
+0
+0
+-0
+0
+0
+500
+0
+0
+
+2.2214414690791830509
+2.2214414690791826068
+0
+-6.1232339957367662824e-16
+-10
+0
+500
+0
+0
+
+0
+0
+100
+
+-10
+0
+100
+
+10
+0
+100
+
+0
+50
+50
+
+0
+-50
+50
+
+-20
+0
+80
+
+20
+-50
+80
+

examples/Data/dubrovnik-3-7-pre-rewritten.txt

@@ -0,0 +1,80 @@
+3 7 19
+
+0 0 -385.989990234375 387.1199951171875
+1 0 -38.439998626708984375 492.1199951171875
+2 0 -667.91998291015625 123.1100006103515625
+0 1 383.8800048828125 -15.299989700317382812
+1 1 559.75 -106.15000152587890625
+0 2 591.54998779296875 136.44000244140625
+1 2 863.8599853515625 -23.469970703125
+2 2 494.720001220703125 112.51999664306640625
+0 3 592.5 125.75
+1 3 861.08001708984375 -35.219970703125
+2 3 498.540008544921875 101.55999755859375
+0 4 348.720001220703125 558.3800048828125
+1 4 776.030029296875 483.529998779296875
+2 4 7.7800288200378417969 326.350006103515625
+0 5 14.010009765625 96.420013427734375
+1 5 207.1300048828125 118.3600006103515625
+0 6 202.7599945068359375 340.989990234375
+1 6 543.18011474609375 294.80999755859375
+2 6 -58.419979095458984375 110.8300018310546875
+
+0.29656188120312942935
+-0.035318354384285870207
+0.31252101755032046793
+0.47230274932665988752
+-0.3572340863744113415
+-2.0517704282499575896
+1430.031982421875
+-7.5572756941255647689e-08
+3.2377570134516087119e-14
+
+0.28532097381985194184
+-0.27699838370789808817
+0.048601169984112867206
+-1.2598695987143850861
+-0.049063798188844320869
+-1.9586867140445654023
+1432.137451171875
+-7.3171918302250560373e-08
+3.1759419042137054801e-14
+
+0.057491325683772541433
+0.34853090049579965592
+0.47985129303736057116
+8.1963904289063389541
+6.5146840788718787252
+-3.8392804395897406344
+1572.047119140625
+-1.5962623223231275915e-08
+-1.6507904730136101212e-14
+
+-11.317351620610928364
+3.3594874875767186673
+-42.755222607849105998
+
+4.2648515634753199066
+-8.4629358700849355301
+-22.252086323427270997
+
+10.996977688149536689
+-9.2123370180278048025
+-29.206739014051372294
+
+10.935342607054865383
+-9.4338917557810741954
+-29.112263909175499776
+
+15.714024935401759819
+1.3745079651566265433
+-59.286834979937104606
+
+-1.3624227800805182031
+-4.1979357415396094666
+-21.034430148188398846
+
+6.7690173115899296974
+-4.7352452433700786827
+-53.605307875695892506
+

examples/Data/dubrovnik-3-7-pre.txt

@@ -0,0 +1,80 @@
+3 7 19
+
+0 0     -3.859900e+02 3.871200e+02
+1 0     -3.844000e+01 4.921200e+02
+2 0     -6.679200e+02 1.231100e+02
+0 1     3.838800e+02 -1.529999e+01
+1 1     5.597500e+02 -1.061500e+02
+0 2     5.915500e+02 1.364400e+02
+1 2     8.638600e+02 -2.346997e+01
+2 2     4.947200e+02 1.125200e+02
+0 3     5.925000e+02 1.257500e+02
+1 3     8.610800e+02 -3.521997e+01
+2 3     4.985400e+02 1.015600e+02
+0 4     3.487200e+02 5.583800e+02
+1 4     7.760300e+02 4.835300e+02
+2 4     7.780029e+00 3.263500e+02
+0 5     1.401001e+01 9.642001e+01
+1 5     2.071300e+02 1.183600e+02
+0 6     2.027600e+02 3.409900e+02
+1 6     5.431801e+02 2.948100e+02
+2 6     -5.841998e+01 1.108300e+02
+
+-1.6943983532198115e-02
+1.1171804676513932e-02
+2.4643508831711991e-03
+7.3030995682610689e-01
+-2.6490818471043420e-01
+-1.7127892627337182e+00
+1.4300319432711681e+03
+-7.5572758535864072e-08
+3.2377569465570913e-14
+
+1.5049725341485708e-02
+-1.8504564785154357e-01
+-2.9278402790141456e-01
+-1.0590476152349551e+00
+-3.6017862414345798e-02
+-1.5720340175803784e+00
+1.4321374541298685e+03
+-7.3171919892612292e-08
+3.1759419019880947e-14
+
+-3.0793597986873011e-01
+3.2077907982952031e-01
+2.2253985096991455e-01
+8.5034483295909009e+00
+6.7499603629668741e+00
+-3.6383814384447088e+00
+1.5720470590375264e+03
+-1.5962623661947355e-08
+-1.6507904848058800e-14
+
+-1.2055995050700867e+01
+1.2838775976205760e+01
+-4.1099369264082803e+01
+
+6.4168905904672933e+00
+3.8897031177598462e-01
+-2.3586282709150449e+01
+
+1.3051100355717297e+01
+3.8387587111611952e+00
+-2.9777932175344951e+01
+
+1.3060946673472820e+01
+3.5910521225905803e+00
+-2.9759080795372942e+01
+
+1.4265764475421857e+01
+2.4096216156436530e+01
+-5.4823971067225500e+01
+
+-2.5292283211391348e-01
+2.2166082122808284e+00
+-2.1712127480255084e+01
+
+7.6465738085189585e+00
+1.4185331909846619e+01
+-5.2070299568846060e+01
+

examples/LocalizationExample.cpp

@@ -93,8 +93,8 @@ public:
     // Consequently, the Jacobians are:
     // [ derror_x/dx  derror_x/dy  derror_x/dtheta ] = [1 0 0]
     // [ derror_y/dx  derror_y/dy  derror_y/dtheta ] = [0 1 0]
-    if (H) (*H) = Matrix_(2,3, 1.0,0.0,0.0, 0.0,1.0,0.0);
+    if (H) (*H) = (Matrix(2,3) << 1.0,0.0,0.0, 0.0,1.0,0.0);
-    return Vector_(2, q.x() - mx_, q.y() - my_);
+    return (Vector(2) << q.x() - mx_, q.y() - my_);
   }
 
   // The second is a 'clone' function that allows the factor to be copied. Under most
@@ -118,17 +118,17 @@ int main(int argc, char** argv) {
 
   // 2a. Add odometry factors
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, 0.0), odometryNoise));
 
   // 2b. Add "GPS-like" measurements
   // We will use our custom UnaryFactor for this.
-  noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y
+  noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas((Vector(2) << 0.1, 0.1)); // 10cm std on x,y
-  graph.push_back(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
+  graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
-  graph.push_back(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
+  graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
-  graph.push_back(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
+  graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
   graph.print("\nFactor Graph:\n"); // print
 
   // 3. Create the data structure to hold the initialEstimate estimate to the solution

examples/OdometryExample.cpp

@@ -64,13 +64,13 @@ int main(int argc, char** argv) {
   // Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
 
   // Add odometry factors
   Pose2 odometry(2.0, 0.0, 0.0);
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));

examples/PlanarSLAMExample.cpp

@@ -80,18 +80,18 @@ int main(int argc, char** argv) {
 
   // Add a prior on pose x1 at the origin. A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0); // prior mean is at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta
   graph.add(PriorFactor<Pose2>(x1, prior, priorNoise)); // add directly to graph
 
   // Add two odometry factors
   Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case)
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta
   graph.add(BetweenFactor<Pose2>(x1, x2, odometry, odometryNoise));
   graph.add(BetweenFactor<Pose2>(x2, x3, odometry, odometryNoise));
 
   // Add Range-Bearing measurements to two different landmarks
   // create a noise model for the landmark measurements
-  noiseModel::Diagonal::shared_ptr measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range
+  noiseModel::Diagonal::shared_ptr measurementNoise = noiseModel::Diagonal::Sigmas((Vector(2) << 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range
   // create the measurement values - indices are (pose id, landmark id)
   Rot2 bearing11 = Rot2::fromDegrees(45),
        bearing21 = Rot2::fromDegrees(90),

examples/Pose2SLAMExample.cpp

@@ -71,11 +71,11 @@ int main(int argc, char** argv) {
 
   // 2a. Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
 
   // For simplicity, we will use the same noise model for odometry and loop closures
-  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
 
   // 2b. Add odometry factors
   // Create odometry (Between) factors between consecutive poses

examples/Pose2SLAMExample_graph.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file Pose2SLAMExample_graph->cpp
+ * @file Pose2SLAMExample_graph.cpp
  * @brief Read graph from file and perform GraphSLAM
  * @date June 3, 2012
  * @author Frank Dellaert
@@ -20,28 +20,24 @@
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/Marginals.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/Values.h>
 #include <gtsam/geometry/Pose2.h>
-#include <boost/tuple/tuple.hpp>
-#include <cmath>
 
 using namespace std;
 using namespace gtsam;
 
-int main(int argc, char** argv) {
+int main (int argc, char** argv) {
 
-  // Read File and create graph and initial estimate
+  // Read File, create graph and initial estimate
   // we are in build/examples, data is in examples/Data
-  NonlinearFactorGraph::shared_ptr graph ;
+  NonlinearFactorGraph::shared_ptr graph;
   Values::shared_ptr initial;
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0));
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0));
-  boost::tie(graph,initial) = load2D("../../examples/Data/w100-odom.graph",model);
+  boost::tie(graph, initial) = load2D("../../examples/Data/w100.graph", model);
   initial->print("Initial estimate:\n");
 
   // Add a Gaussian prior on first poses
   Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
-  SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01));
+  SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.01, 0.01, 0.01));
   graph->add(PriorFactor<Pose2>(0, priorMean, priorNoise));
 
   // Single Step Optimization using Levenberg-Marquardt
@@ -53,5 +49,5 @@ int main(int argc, char** argv) {
   cout.precision(2);
   cout << "\nP3:\n" << marginals.marginalCovariance(99) << endl;
 
-return 0;
+  return 0;
 }

examples/Pose2SLAMExample_graphviz.cpp

@@ -0,0 +1,71 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Pose2SLAMExample_graphviz.cpp
+ * @brief Save factor graph as graphviz dot file
+ * @date Sept 6, 2013
+ * @author Frank Dellaert
+ */
+
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/geometry/Pose2.h>
+#include <fstream>
+
+using namespace std;
+using namespace gtsam;
+
+int main (int argc, char** argv) {
+
+  // 1. Create a factor graph container and add factors to it
+  NonlinearFactorGraph graph;
+
+  // 2a. Add a prior on the first pose, setting it to the origin
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
+  graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
+
+  // For simplicity, we will use the same noise model for odometry and loop closures
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
+
+  // 2b. Add odometry factors
+  graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0     ), model));
+  graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0, M_PI_2), model));
+  graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2, 0, M_PI_2), model));
+  graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2, 0, M_PI_2), model));
+
+  // 2c. Add the loop closure constraint
+  graph.add(BetweenFactor<Pose2>(5, 2, Pose2(2, 0, M_PI_2), model));
+
+  // 3. Create the data structure to hold the initial estimate to the solution
+  // For illustrative purposes, these have been deliberately set to incorrect values
+  Values initial;
+  initial.insert(1, Pose2(0.5, 0.0,  0.2   ));
+  initial.insert(2, Pose2(2.3, 0.1, -0.2   ));
+  initial.insert(3, Pose2(4.1, 0.1,  M_PI_2));
+  initial.insert(4, Pose2(4.0, 2.0,  M_PI  ));
+  initial.insert(5, Pose2(2.1, 2.1, -M_PI_2));
+
+  // Single Step Optimization using Levenberg-Marquardt
+  Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
+
+  // save factor graph as graphviz dot file
+  // Render to PDF using "fdp Pose2SLAMExample.dot -Tpdf > graph.pdf"
+  ofstream os("Pose2SLAMExample.dot");
+  graph.saveGraph(os, result);
+
+  // Also print out to console
+  graph.saveGraph(cout, result);
+
+  return 0;
+}

examples/Pose2SLAMwSPCG.cpp

@@ -68,12 +68,12 @@ int main(int argc, char** argv) {
   // 2a. Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0); // prior at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, prior, priorNoise));
 
   // 2b. Add odometry factors
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, M_PI_2),    odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
@@ -85,7 +85,7 @@ int main(int argc, char** argv) {
   // these constraints may be identified in many ways, such as appearance-based techniques
   // with camera images.
   // We will use another Between Factor to enforce this constraint, with the distance set to zero,
-  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   graph.add(BetweenFactor<Pose2>(5, 1, Pose2(0.0, 0.0, 0.0), model));
   graph.print("\nFactor Graph:\n"); // print
 

examples/SFMExample.cpp

@@ -0,0 +1,118 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMExample.cpp
+ * @brief   A structure-from-motion problem on a simulated dataset
+ * @author  Duy-Nguyen Ta
+ */
+
+/**
+ * A structure-from-motion example with landmarks
+ *  - The landmarks form a 10 meter cube
+ *  - The robot rotates around the landmarks, always facing towards the cube
+ */
+
+// For loading the data
+#include "SFMdata.h"
+
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+#include <gtsam/geometry/Point2.h>
+
+// Each variable in the system (poses and landmarks) must be identified with a unique key.
+// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
+// Here we will use Symbols
+#include <gtsam/nonlinear/Symbol.h>
+
+// In GTSAM, measurement functions are represented as 'factors'. Several common factors
+// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
+// Here we will use Projection factors to model the camera's landmark observations.
+// Also, we will initialize the robot at some location using a Prior factor.
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/ProjectionFactor.h>
+
+// When the factors are created, we will add them to a Factor Graph. As the factors we are using
+// are nonlinear factors, we will need a Nonlinear Factor Graph.
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+
+// Finally, once all of the factors have been added to our factor graph, we will want to
+// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values.
+// GTSAM includes several nonlinear optimizers to perform this step. Here we will use a
+// trust-region method known as Powell's Degleg
+#include <gtsam/nonlinear/DoglegOptimizer.h>
+
+// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the
+// nonlinear functions around an initial linearization point, then solve the linear system
+// to update the linearization point. This happens repeatedly until the solver converges
+// to a consistent set of variable values. This requires us to specify an initial guess
+// for each variable, held in a Values container.
+#include <gtsam/nonlinear/Values.h>
+
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+int main(int argc, char* argv[]) {
+
+  // Define the camera calibration parameters
+  Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
+
+  // Define the camera observation noise model
+  noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
+
+  // Create the set of ground-truth landmarks
+  vector<Point3> points = createPoints();
+
+  // Create the set of ground-truth poses
+  vector<Pose3> poses = createPoses();
+
+  // Create a factor graph
+  NonlinearFactorGraph graph;
+
+  // Add a prior on pose x1. This indirectly specifies where the origin is.
+  noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+  graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise)); // add directly to graph
+
+  // Simulated measurements from each camera pose, adding them to the factor graph
+  for (size_t i = 0; i < poses.size(); ++i) {
+    for (size_t j = 0; j < points.size(); ++j) {
+      SimpleCamera camera(poses[i], *K);
+      Point2 measurement = camera.project(points[j]);
+      graph.add(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K));
+    }
+  }
+
+  // Because the structure-from-motion problem has a scale ambiguity, the problem is still under-constrained
+  // Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance
+  // between the first camera and the first landmark. All other landmark positions are interpreted using this scale.
+  noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+  graph.add(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
+  graph.print("Factor Graph:\n");
+
+  // Create the data structure to hold the initial estimate to the solution
+  // Intentionally initialize the variables off from the ground truth
+  Values initialEstimate;
+  for (size_t i = 0; i < poses.size(); ++i)
+    initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
+  for (size_t j = 0; j < points.size(); ++j)
+    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+  initialEstimate.print("Initial Estimates:\n");
+
+  /* Optimize the graph and print results */
+  Values result = DoglegOptimizer(graph, initialEstimate).optimize();
+  result.print("Final results:\n");
+
+  return 0;
+}
+/* ************************************************************************* */
+

examples/SFMExample_bal.cpp

@@ -0,0 +1,94 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMExample.cpp
+ * @brief   Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
+ * @author  Frank Dellaert
+ */
+
+// For an explanation of headers, see SFMExample.cpp
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/slam/dataset.h> // for loading BAL datasets !
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+using symbol_shorthand::C;
+using symbol_shorthand::P;
+
+// We will be using a projection factor that ties a SFM_Camera to a 3D point.
+// An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration
+// and has a total of 9 free parameters
+typedef GeneralSFMFactor<SfM_Camera,Point3> MyFactor;
+
+/* ************************************************************************* */
+int main (int argc, char* argv[]) {
+
+  // Find default file, but if an argument is given, try loading a file
+  string filename = findExampleDataFile("dubrovnik-3-7-pre");
+  if (argc>1) filename = string(argv[1]);
+
+  // Load the SfM data from file
+  SfM_data mydata;
+  const bool success = readBAL(filename, mydata);
+  assert(success);
+  cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
+
+  // Create a factor graph
+  NonlinearFactorGraph graph;
+
+  // We share *one* noiseModel between all projection factors
+  noiseModel::Isotropic::shared_ptr noise =
+      noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
+
+  // Add measurements to the factor graph
+  size_t j = 0;
+  BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
+    BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
+      size_t i = m.first;
+      Point2 uv = m.second;
+      graph.add(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
+    }
+    j += 1;
+  }
+
+  // Add a prior on pose x1. This indirectly specifies where the origin is.
+  // and a prior on the position of the first landmark to fix the scale
+  graph.add(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1)));
+  graph.add(PriorFactor<Point3>    (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
+
+  // Create initial estimate
+  Values initial;
+  size_t i = 0; j = 0;
+  BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
+  BOOST_FOREACH(const SfM_Track& track, mydata.tracks)    initial.insert(P(j++), track.p);
+
+  /* Optimize the graph and print results */
+  Values result;
+  try {
+    LevenbergMarquardtParams params;
+    params.setVerbosity("ERROR");
+    LevenbergMarquardtOptimizer lm(graph, initial, params);
+    result = lm.optimize();
+  } catch (exception& e) {
+    cout << e.what();
+  }
+  cout << "final error: " << graph.error(result) << endl;
+
+  return 0;
+}
+/* ************************************************************************* */
+

examples/SFMdata.h

@@ -0,0 +1,68 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMMdata.h
+ * @brief   Simple example for the structure-from-motion problems
+ * @author  Duy-Nguyen Ta
+ */
+
+/**
+ * A structure-from-motion example with landmarks
+ *  - The landmarks form a 10 meter cube
+ *  - The robot rotates around the landmarks, always facing towards the cube
+ */
+
+// As this is a full 3D problem, we will use Pose3 variables to represent the camera
+// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+// We will also need a camera object to hold calibration information and perform projections.
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Point3.h>
+
+// We will also need a camera object to hold calibration information and perform projections.
+#include <gtsam/geometry/SimpleCamera.h>
+
+/* ************************************************************************* */
+std::vector<gtsam::Point3> createPoints() {
+
+  // Create the set of ground-truth landmarks
+  std::vector<gtsam::Point3> points;
+  points.push_back(gtsam::Point3(10.0,10.0,10.0));
+  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
+  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
+  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
+  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
+  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
+  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
+  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
+
+  return points;
+}
+
+/* ************************************************************************* */
+std::vector<gtsam::Pose3> createPoses() {
+
+  // Create the set of ground-truth poses
+  std::vector<gtsam::Pose3> poses;
+  double radius = 30.0;
+  int i = 0;
+  double theta = 0.0;
+  gtsam::Point3 up(0,0,1);
+  gtsam::Point3 target(0,0,0);
+  for(; i < 8; ++i, theta += 2*M_PI/8) {
+    gtsam::Point3 position = gtsam::Point3(radius*cos(theta), radius*sin(theta), 0.0);
+    gtsam::SimpleCamera camera = gtsam::SimpleCamera::Lookat(position, target, up);
+    poses.push_back(camera.pose());
+  }
+  return poses;
+}
+/* ************************************************************************* */

examples/SelfCalibrationExample.cpp

@@ -0,0 +1,96 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SelfCalibrationExample.cpp
+ * @brief   Based on VisualSLAMExample, but with unknown (yet fixed) calibration.
+ * @author  Frank Dellaert
+ */
+
+/*
+ * See the detailed documentation in Visual SLAM.
+ * The only documentation below with deal with the self-calibration.
+ */
+
+// For loading the data
+#include "SFMdata.h"
+
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+#include <gtsam/geometry/Point2.h>
+
+// Inference and optimization
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/DoglegOptimizer.h>
+#include <gtsam/nonlinear/Values.h>
+
+// SFM-specific factors
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/GeneralSFMFactor.h> // does calibration !
+
+// Standard headers
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+int main(int argc, char* argv[]) {
+
+  // Create the set of ground-truth
+  vector<Point3> points = createPoints();
+  vector<Pose3> poses = createPoses();
+
+  // Create the factor graph
+  NonlinearFactorGraph graph;
+
+  // Add a prior on pose x1.
+  noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+  graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
+
+  // Simulated measurements from each camera pose, adding them to the factor graph
+  Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0);
+  noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
+  for (size_t i = 0; i < poses.size(); ++i) {
+    for (size_t j = 0; j < points.size(); ++j) {
+      SimpleCamera camera(poses[i], K);
+      Point2 measurement = camera.project(points[j]);
+      // The only real difference with the Visual SLAM example is that here we use a
+      // different factor type, that also calculates the Jacobian with respect to calibration
+      graph.add(GeneralSFMFactor2<Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), Symbol('K', 0)));
+    }
+  }
+
+  // Add a prior on the position of the first landmark.
+  noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+  graph.add(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
+
+  // Add a prior on the calibration.
+  noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 0.1, 100, 100));
+  graph.add(PriorFactor<Cal3_S2>(Symbol('K', 0), K, calNoise));
+
+  // Create the initial estimate to the solution
+  // now including an estimate on the camera calibration parameters
+  Values initialEstimate;
+  initialEstimate.insert(Symbol('K', 0), Cal3_S2(60.0, 60.0, 0.0, 45.0, 45.0));
+  for (size_t i = 0; i < poses.size(); ++i)
+    initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
+  for (size_t j = 0; j < points.size(); ++j)
+    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+
+  /* Optimize the graph and print results */
+  Values result = DoglegOptimizer(graph, initialEstimate).optimize();
+  result.print("Final results:\n");
+
+  return 0;
+}
+/* ************************************************************************* */
+

examples/VisualISAM2Example.cpp

@@ -22,14 +22,11 @@
  *  - The robot rotates around the landmarks, always facing towards the cube
  */
 
-// As this is a full 3D problem, we will use Pose3 variables to represent the camera
+// For loading the data
-// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+#include "SFMdata.h"
+
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
-// We will also need a camera object to hold calibration information and perform projections.
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/SimpleCamera.h>
 
 // Each variable in the system (poses and landmarks) must be identified with a unique key.
 // We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
@@ -67,28 +64,10 @@ int main(int argc, char* argv[]) {
   noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
 
   // Create the set of ground-truth landmarks
-  std::vector<gtsam::Point3> points;
+  vector<Point3> points = createPoints();
-  points.push_back(gtsam::Point3(10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
 
   // Create the set of ground-truth poses
-  std::vector<gtsam::Pose3> poses;
+  vector<Pose3> poses = createPoses();
-  double radius = 30.0;
-  int i = 0;
-  double theta = 0.0;
-  gtsam::Point3 up(0,0,1);
-  gtsam::Point3 target(0,0,0);
-  for(; i < 8; ++i, theta += 2*M_PI/8) {
-    gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0);
-    gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up);
-    poses.push_back(camera.pose());
-  }
 
   // Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps to maintain proper linearization
   // and efficient variable ordering, iSAM2 performs partial relinearization/reordering at each step. A parameter
@@ -124,7 +103,7 @@ int main(int argc, char* argv[]) {
     // adding it to iSAM.
     if( i == 0) {
       // Add a prior on pose x0
-      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3),Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
       graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
 
       // Add a prior on landmark l0

examples/VisualISAMExample.cpp

@@ -22,14 +22,11 @@
  *  - The robot rotates around the landmarks, always facing towards the cube
  */
 
-// As this is a full 3D problem, we will use Pose3 variables to represent the camera
+// For loading the data
-// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+#include "SFMdata.h"
+
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
-// We will also need a camera object to hold calibration information and perform projections.
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/SimpleCamera.h>
 
 // Each variable in the system (poses and landmarks) must be identified with a unique key.
 // We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
@@ -67,28 +64,10 @@ int main(int argc, char* argv[]) {
   noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
 
   // Create the set of ground-truth landmarks
-  std::vector<gtsam::Point3> points;
+  vector<Point3> points = createPoints();
-  points.push_back(gtsam::Point3(10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
 
   // Create the set of ground-truth poses
-  std::vector<gtsam::Pose3> poses;
+  vector<Pose3> poses = createPoses();
-  double radius = 30.0;
-  int i = 0;
-  double theta = 0.0;
-  gtsam::Point3 up(0,0,1);
-  gtsam::Point3 target(0,0,0);
-  for(; i < 8; ++i, theta += 2*M_PI/8) {
-    gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0);
-    gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up);
-    poses.push_back(camera.pose());
-  }
 
   // Create a NonlinearISAM object which will relinearize and reorder the variables every "relinearizeInterval" updates
   int relinearizeInterval = 3;
@@ -118,7 +97,7 @@ int main(int argc, char* argv[]) {
     // adding it to iSAM.
     if( i == 0) {
       // Add a prior on pose x0
-      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
       graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
 
       // Add a prior on landmark l0

gtsam.h

@@ -563,6 +563,49 @@ virtual class Pose3 : gtsam::Value {
   void serialize() const;
 };
 
+#include <gtsam/geometry/Unit3.h>
+virtual class Unit3 : gtsam::Value {
+  // Standard Constructors
+  Unit3();
+  Unit3(const gtsam::Point3& pose);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::Unit3& pose, double tol) const;
+
+  // Other functionality
+  Matrix basis() const;
+  Matrix skew() const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::Unit3 retract(Vector v) const;
+  Vector localCoordinates(const gtsam::Unit3& s) const;
+};
+
+#include <gtsam/geometry/EssentialMatrix.h>
+virtual class EssentialMatrix : gtsam::Value {
+  // Standard Constructors
+  EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::EssentialMatrix& pose, double tol) const;
+
+  // Manifold
+  static size_t Dim();
+  size_t dim() const;
+  gtsam::EssentialMatrix retract(Vector v) const;
+  Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
+
+  // Other methods:
+  gtsam::Rot3 rotation() const;
+  gtsam::Unit3 direction() const;
+  Matrix matrix() const;
+  double error(Vector vA, Vector vB);
+};
+
 virtual class Cal3_S2 : gtsam::Value {
   // Standard Constructors
   Cal3_S2();
@@ -2273,6 +2316,12 @@ virtual class PoseRotationPrior : gtsam::NoiseModelFactor {
 typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
 typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
 
+#include <gtsam/slam/EssentialMatrixFactor.h>
+virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
+  EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, const gtsam::Point2& pB,
+      const gtsam::noiseModel::Base* noiseModel);
+};
+
 #include <gtsam/slam/dataset.h>
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
     gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);

gtsam/3rdparty/CMakeLists.txt

@@ -3,17 +3,28 @@ install(FILES CCOLAMD/Include/ccolamd.h DESTINATION include/gtsam/3rdparty/CCOLA
 install(FILES UFconfig/UFconfig.h DESTINATION include/gtsam/3rdparty/UFconfig)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
+	# Find plain .h files
+	file(GLOB_RECURSE eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/Eigen/*.h")
+
+	# Find header files without extension
+	file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
+	foreach(eigen_dir ${eigen_dir_headers_all})
+		get_filename_component(filename ${eigen_dir} NAME)
+		if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
+			list(APPEND eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/Eigen/${filename}")
+			install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)
+		endif()
+	endforeach(eigen_dir)
+	
+	# Add to project source
+	set(eigen_headers ${eigen_headers} PARENT_SCOPE)
+	
 	# install Eigen - only the headers in our 3rdparty directory
 	install(DIRECTORY Eigen/Eigen 
 		DESTINATION include/gtsam/3rdparty/Eigen
 		FILES_MATCHING PATTERN "*.h")
-	file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
-
-	# ensure that Eigen folders without extensions get added
-	foreach(eigen_dir ${eigen_dir_headers_all})
-		get_filename_component(filename ${eigen_dir} NAME)
-		if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
-			install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)     
-		endif()
-	endforeach(eigen_dir)
 endif()
+
+############ NOTE:  When updating GeographicLib be sure to disable building their examples
+############        by commenting out their line add_subdirectory (examples).
+add_subdirectory(GeographicLib)

gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_LLT_MKL_H
 #define EIGEN_LLT_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 #include <iostream>
 
 namespace Eigen { 
@@ -60,7 +60,7 @@ template<> struct mkl_llt<EIGTYPE> \
     lda = m.outerStride(); \
 \
     info = LAPACKE_##MKLPREFIX##potrf( matrix_order, uplo, size, (MKLTYPE*)a, lda ); \
-    info = (info==0) ? Success : NumericalIssue; \
+    info = (info==0) ? -1 : 1; \
     return info; \
   } \
 }; \

gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h

@@ -25,10 +25,14 @@ namespace Eigen {
   * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
   */
 template<typename XprType>
-struct CommaInitializer
+struct CommaInitializer :
+  public internal::dense_xpr_base<CommaInitializer<XprType> >::type
 {
-  typedef typename XprType::Scalar Scalar;
+  typedef typename internal::dense_xpr_base<CommaInitializer<XprType> >::type Base;
-  typedef typename XprType::Index Index;
+  EIGEN_DENSE_PUBLIC_INTERFACE(CommaInitializer)
+  typedef typename internal::conditional<internal::must_nest_by_value<XprType>::ret,
+    XprType, const XprType&>::type ExpressionTypeNested;
+  typedef typename XprType::InnerIterator InnerIterator;
 
   inline CommaInitializer(XprType& xpr, const Scalar& s)
     : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
@@ -104,11 +108,81 @@ struct CommaInitializer
     */
   inline XprType& finished() { return m_xpr; }
 
+  // The following implement the DenseBase interface
+
+  inline Index rows() const { return m_xpr.rows(); }
+  inline Index cols() const { return m_xpr.cols(); }
+  inline Index outerStride() const { return m_xpr.outerStride(); }
+  inline Index innerStride() const { return m_xpr.innerStride(); }
+
+  inline CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_xpr.coeff(row, col);
+  }
+
+  inline CoeffReturnType coeff(Index index) const
+  {
+    return m_xpr.coeff(index);
+  }
+
+  inline const Scalar& coeffRef(Index row, Index col) const
+  {
+    return m_xpr.const_cast_derived().coeffRef(row, col);
+  }
+
+  inline const Scalar& coeffRef(Index index) const
+  {
+    return m_xpr.const_cast_derived().coeffRef(index);
+  }
+
+  inline Scalar& coeffRef(Index row, Index col)
+  {
+    return m_xpr.const_cast_derived().coeffRef(row, col);
+  }
+
+  inline Scalar& coeffRef(Index index)
+  {
+    return m_xpr.const_cast_derived().coeffRef(index);
+  }
+
+  template<int LoadMode>
+  inline const PacketScalar packet(Index row, Index col) const
+  {
+    return m_xpr.template packet<LoadMode>(row, col);
+  }
+
+  template<int LoadMode>
+  inline void writePacket(Index row, Index col, const PacketScalar& x)
+  {
+    m_xpr.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+  }
+
+  template<int LoadMode>
+  inline const PacketScalar packet(Index index) const
+  {
+    return m_xpr.template packet<LoadMode>(index);
+  }
+
+  template<int LoadMode>
+  inline void writePacket(Index index, const PacketScalar& x)
+  {
+    m_xpr.const_cast_derived().template writePacket<LoadMode>(index, x);
+  }
+
+  const XprType& _expression() const { return m_xpr; }
+
   XprType& m_xpr;   // target expression
   Index m_row;              // current row id
   Index m_col;              // current col id
   Index m_currentBlockRows; // current block height
 };
+
+namespace internal {
+  template<typename XprType>
+  struct traits<CommaInitializer<XprType> > : traits<XprType>
+  {
+  };
+}
 
 /** \anchor MatrixBaseCommaInitRef
   * Convenient operator to set the coefficients of a matrix.

gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_COMPLEX_SCHUR_MKL_H
 #define EIGEN_COMPLEX_SCHUR_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 

gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_REAL_SCHUR_MKL_H
 #define EIGEN_REAL_SCHUR_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 

gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_SAEIGENSOLVER_MKL_H
 #define EIGEN_SAEIGENSOLVER_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 

gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_PARTIALLU_LAPACK_H
 #define EIGEN_PARTIALLU_LAPACK_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 

gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h

@@ -34,7 +34,7 @@
 #ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_MKL_H
 #define EIGEN_COLPIVOTINGHOUSEHOLDERQR_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 
@@ -63,12 +63,12 @@ ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynami
 \
   m_nonzero_pivots = 0; \
   m_maxpivot = RealScalar(0);\
-  m_colsPermutation.resize(cols); \
+  m_colsPermutation.resize((int)cols); \
   m_colsPermutation.indices().setZero(); \
 \
-  lapack_int lda = m_qr.outerStride(), i; \
+  lapack_int lda = (lapack_int) m_qr.outerStride(), i; \
   lapack_int matrix_order = MKLCOLROW; \
-  LAPACKE_##MKLPREFIX##geqp3( matrix_order, rows, cols, (MKLTYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (MKLTYPE*)m_hCoeffs.data()); \
+  LAPACKE_##MKLPREFIX##geqp3( matrix_order, (lapack_int)rows, (lapack_int)cols, (MKLTYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (MKLTYPE*)m_hCoeffs.data()); \
   m_isInitialized = true; \
   m_maxpivot=m_qr.diagonal().cwiseAbs().maxCoeff(); \
   m_hCoeffs.adjointInPlace(); \

gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h

@@ -251,56 +251,62 @@ void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename
 }
 
 /** \internal */
-template<typename MatrixQR, typename HCoeffs>
+template<typename MatrixQR, typename HCoeffs,
-void householder_qr_inplace_blocked(MatrixQR& mat, HCoeffs& hCoeffs,
+  typename MatrixQRScalar = typename MatrixQR::Scalar,
-                                       typename MatrixQR::Index maxBlockSize=32,
+  bool InnerStrideIsOne = (MatrixQR::InnerStrideAtCompileTime == 1 && HCoeffs::InnerStrideAtCompileTime == 1)>
-                                       typename MatrixQR::Scalar* tempData = 0)
+struct householder_qr_inplace_blocked
 {
-  typedef typename MatrixQR::Index Index;
+  // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
-  typedef typename MatrixQR::Scalar Scalar;
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs,
-  typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
+      typename MatrixQR::Index maxBlockSize=32,
-
+      typename MatrixQR::Scalar* tempData = 0)
-  Index rows = mat.rows();
-  Index cols = mat.cols();
-  Index size = (std::min)(rows, cols);
-
-  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
-  TempType tempVector;
-  if(tempData==0)
   {
-    tempVector.resize(cols);
+    typedef typename MatrixQR::Index Index;
-    tempData = tempVector.data();
+    typedef typename MatrixQR::Scalar Scalar;
-  }
+    typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
 
-  Index blockSize = (std::min)(maxBlockSize,size);
+    Index rows = mat.rows();
+    Index cols = mat.cols();
+    Index size = (std::min)(rows, cols);
 
-  Index k = 0;
+    typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
-  for (k = 0; k < size; k += blockSize)
+    TempType tempVector;
-  {
+    if(tempData==0)
-    Index bs = (std::min)(size-k,blockSize);  // actual size of the block
-    Index tcols = cols - k - bs;            // trailing columns
-    Index brows = rows-k;                   // rows of the block
-
-    // partition the matrix:
-    //        A00 | A01 | A02
-    // mat  = A10 | A11 | A12
-    //        A20 | A21 | A22
-    // and performs the qr dec of [A11^T A12^T]^T
-    // and update [A21^T A22^T]^T using level 3 operations.
-    // Finally, the algorithm continue on A22
-
-    BlockType A11_21 = mat.block(k,k,brows,bs);
-    Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
-
-    householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
-
-    if(tcols)
     {
-      BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
+      tempVector.resize(cols);
-      apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+      tempData = tempVector.data();
+    }
+
+    Index blockSize = (std::min)(maxBlockSize,size);
+
+    Index k = 0;
+    for (k = 0; k < size; k += blockSize)
+    {
+      Index bs = (std::min)(size-k,blockSize);  // actual size of the block
+      Index tcols = cols - k - bs;            // trailing columns
+      Index brows = rows-k;                   // rows of the block
+
+      // partition the matrix:
+      //        A00 | A01 | A02
+      // mat  = A10 | A11 | A12
+      //        A20 | A21 | A22
+      // and performs the qr dec of [A11^T A12^T]^T
+      // and update [A21^T A22^T]^T using level 3 operations.
+      // Finally, the algorithm continue on A22
+
+      BlockType A11_21 = mat.block(k,k,brows,bs);
+      Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
+
+      householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
+
+      if(tcols)
+      {
+        BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
+        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+      }
     }
   }
-}
+};
 
 template<typename _MatrixType, typename Rhs>
 struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
@@ -352,7 +358,7 @@ HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType&
 
   m_temp.resize(cols);
 
-  internal::householder_qr_inplace_blocked(m_qr, m_hCoeffs, 48, m_temp.data());
+  internal::householder_qr_inplace_blocked<MatrixType, HCoeffsType>::run(m_qr, m_hCoeffs, 48, m_temp.data());
 
   m_isInitialized = true;
   return *this;

gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR_MKL.h

@@ -34,28 +34,30 @@
 #ifndef EIGEN_QR_MKL_H
 #define EIGEN_QR_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 
-namespace internal {
+  namespace internal {
 
-/** \internal Specialization for the data types supported by MKL */
+    /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_QR_NOPIV(EIGTYPE, MKLTYPE, MKLPREFIX) \
 template<typename MatrixQR, typename HCoeffs> \
-void householder_qr_inplace_blocked(MatrixQR& mat, HCoeffs& hCoeffs, \
+struct householder_qr_inplace_blocked<MatrixQR, HCoeffs, EIGTYPE, true> \
-                                       typename MatrixQR::Index maxBlockSize=32, \
-                                       EIGTYPE* tempData = 0) \
 { \
-  lapack_int m = mat.rows(); \
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs, \
-  lapack_int n = mat.cols(); \
+      typename MatrixQR::Index = 32, \
-  lapack_int lda = mat.outerStride(); \
+      typename MatrixQR::Scalar* = 0) \
-  lapack_int matrix_order = (MatrixQR::IsRowMajor) ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
+  { \
-  LAPACKE_##MKLPREFIX##geqrf( matrix_order, m, n, (MKLTYPE*)mat.data(), lda, (MKLTYPE*)hCoeffs.data()); \
+    lapack_int m = (lapack_int) mat.rows(); \
-  hCoeffs.adjointInPlace(); \
+    lapack_int n = (lapack_int) mat.cols(); \
-\
+    lapack_int lda = (lapack_int) mat.outerStride(); \
-}
+    lapack_int matrix_order = (MatrixQR::IsRowMajor) ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
+    LAPACKE_##MKLPREFIX##geqrf( matrix_order, m, n, (MKLTYPE*)mat.data(), lda, (MKLTYPE*)hCoeffs.data()); \
+    hCoeffs.adjointInPlace(); \
+  } \
+};
 
 EIGEN_MKL_QR_NOPIV(double, double, d)
 EIGEN_MKL_QR_NOPIV(float, float, s)

gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h

@@ -33,7 +33,7 @@
 #ifndef EIGEN_JACOBISVD_MKL_H
 #define EIGEN_JACOBISVD_MKL_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
+#include "../Core/util/MKL_support.h"
 
 namespace Eigen { 
 

gtsam/3rdparty/GeographicLib/00README.txt

@@ -0,0 +1,143 @@
+A library for geographic projections.
+
+Written by Charles Karney <charles@karney.com> and licensed under
+the MIT/X11 License.  For more information, see
+
+    http://geographiclib.sourceforge.net/
+
+Files
+
+    00README.txt  -- this file
+    AUTHORS -- the authors of the library
+    LICENSE.txt -- the MIT/X11 License
+    INSTALL -- brief installation instructions
+    NEWS -- a history of changes
+
+    include/GeographicLib/ and src/
+      Config.h.in, Config.h -- system dependent configuration
+      Constants.hpp -- WGS84 constants
+      Math.hpp -- math routines
+      Utility.hpp -- I/O and date routines
+      Accumulator.[ch]pp -- quad precision adder
+      PolarStereographic.[ch]pp -- polar stereographic projection
+      TransverseMercator.[ch]pp -- transverse Mercator projection
+      UTMUPS.[ch]pp -- UTM and UPS
+      MGRS.[ch]pp -- MGRS
+      TransverseMercatorExact.[ch]pp -- exact TM projection
+      EllipticFunction.[ch]pp -- elliptic functions
+      GeoCoords.[ch]pp -- hold geographic location
+      DMS.[ch]pp -- handle degrees minutes seconds
+      Geocentric.[ch]pp -- geocentric coordinates
+      LocalCartesian.[ch]pp -- local cartesian coordinates
+      Geodesic.[ch]pp -- geodesic calculations
+      GeodesicLine.[ch]pp -- calculations on a single geodesic
+      PolygonArea.[ch]pp -- polygon area
+      AzimuthalEquidistant.[ch]pp -- azimuthal equidistant projection
+      Gnomonic.[ch]pp -- gnomonic projection
+      CassiniSoldner.[ch]pp -- Cassini-Soldner equidistant projection
+      Geoid.[ch]pp -- geoid heights
+      Gravity{Model,Circle}.[ch]pp -- gravity models
+      Magnetic{Model,Circle}.[ch]pp -- geomagentic models
+      {Spherical,Circular}Engine.[ch]pp -- spherical harmonic sums
+      SphericalHarmonic{,1,2}.hpp -- frontend for spherical harmonics
+      LambertConformalConic.[ch]pp -- Lambert conformal conic projection
+      AlbersEqualArea.[ch]pp -- Albers equal area projection
+      Gnomonic.[ch]pp -- Ellipsoidal gnomonic projection
+      OSGB.[ch]pp -- Ordnance Survey grid system
+      Geohash.[ch]pp -- conversions for geohashes
+      Ellipsoid.[ch]pp -- ellipsoid properties
+
+    examples/
+      example-*.cpp -- simple usage examples for all the classes
+      GeoidToGTX.cpp -- a parallelization example
+
+    tools/
+      GeoConvert.cpp -- geographic conversion utility
+      TransverseMercatorTest.cpp -- TM tester
+      GeodSolve.cpp -- geodesic utility
+      CartConvert.cpp -- convert to geocentric and local cartesian
+      EquidistantTest.cpp -- exercise AzimuthalEquidistant and CassiniSoldner
+      GeoidEval.cpp -- evaluate geoid heights
+      Gravity.cpp -- evaluate gravity
+      MagneticField.cpp -- evaluate magnetic field
+      Planimeter.cpp -- computer polygon areas
+      geographiclib-get-geoids -- download geoid datasets
+      geographiclib-get-magnetic -- download geomagnetic models
+
+    windows/
+      GeographicLib-vc9.sln -- MS Studio 2008 solution
+      Geographic-vc9.vcproj -- project for library
+      GeoConvert-vc9.vcproj -- project for GeoConvert
+      TransverseMercatorTest-vc9.vcproj -- project for TransverseMercatorTest
+      Geod-vc9.vcproj -- project for Geod
+      Planimeter-vc9.vcproj -- project for Planimeter
+      CartConvert-vc9.vcproj -- project for CartConvert
+      EquidistantTest-vc9.vcproj -- project for EquidistantTest
+      GeoidEval-vc9.vcproj -- project for GeoidEval
+      Gravity-vc9.vcproj -- project for Gravity
+      MagneticField-vc9.vcproj -- project for MagneticField
+      also files for MS Studio 2005 (with vc8)
+      also files for MS Studio 2010 (with vc10)
+      NETGeographic-vc10.vcxproj -- project for .NET wrapper
+
+    maxima/
+      tm.mac -- Maxima code for high precision TM
+      ellint.mac -- Maxima code for elliptic functions needed by tm.mac
+      tmseries.mac -- Maxima code for series approximations for TM
+      geod.mac -- Maxima code for series approximations for Geodesic
+      geodesic.mac -- Maxima code for geodesic problems
+
+    matlab/
+      geographiclibinterface.m -- Matlab code to compile Matlab interfaces
+      utmupsforward.{cpp,m} -- Matlab code to convert geographic to UTM/UPS
+      utmupsreverse.{cpp,m} -- Matlab code to convert UTM/UPS to geographic
+      mgrsforward.{cpp,m} -- Matlab code to convert UTM/UPS to MGRS
+      mgrsreverse.{cpp,m} -- Matlab code to convert MGRS to UTM/UPS
+      geodesicdirect.{cpp,m} -- Matlab code for the direct geodesic problem
+      geodesicinverse.{cpp,m} -- Matlab code for the inverse geodesic problem
+      geodesicline.{cpp,m} -- Matlab code for geodesic lines
+      geoidheight.{cpp,m} -- Matlab code to look up geoid heights
+      polygonarea.{cpp,m} -- Matlab code for polygon areas
+      geoddoc.m -- documentation for native Matlab geodesic routines
+      geodreckon.m -- native Matlab implementation of direct geodesic problem
+      geoddistance.m -- native Matlab implementation of inverse geodesic problem
+      geodarea.m -- native Matlab implementation of polygon area
+      defaultellipsoid.m, ecc2flat.m, flat2ecc.m -- auxiliary functions
+      geodproj.m -- documentation for geodesic projections
+      *_{fwd,inv}.m -- native Matlab implementation of geodesic projections
+      private/*.m -- internal functions for geodesic routines
+
+    doc/
+      doxyfile.in -- Doxygen config file
+      Geographic.dox -- main page of Doxygen documentation
+      geodseries30.html -- geodesic series to 30th order
+      tmseries30.html -- transverse Mercator series to 30th order
+      html/* -- directory with built documentation
+      scripts/*.html -- demonstrations of the JavaScript interface
+      scripts/GeographicLib/*.js -- JavaScript implementation of geodesics
+
+    man/
+      *.pod -- plain old documentation
+      *.1 -- man pages in nroff format
+      *.1.html -- man pages in html format
+      *.usage -- documentation for incorporation into executables
+
+    python/GeographicLib/*.py -- Python implementation of geodesic routines
+
+    java/.../*.java -- Java implementation of geodesic routines
+
+    dotnet/NETGeographicLib/*.{cpp,h} -- .NET wrapper for GeographicLib
+    dotnet/examples/CS/*.cs -- simple C# examples for each class
+    dotnet/examples/ManagedCPP/*.cpp -- Managed C++ examples for each class
+    dotnet/examples/VB/*.vb -- simple Visual Basic examples for each class
+    dotnet/Projection/* -- a more complex C# application
+
+    legacy/C/* -- C implementation of geodesic routines
+    legacy/Fortran/* -- Fortran implementation of geodesic routines
+
+    Makefile.mk -- Unix/Linux makefiles
+    configure -- autoconf configuration script
+    CMakeLists.txt -- cmake configuration files
+    cmake/
+      FindGeographicLib.cmake -- cmake find script
+      *.cmake.in -- cmake config templates

gtsam/3rdparty/GeographicLib/AUTHORS

@@ -0,0 +1,6 @@
+Charles Karney <charles@karney.com>
+Francesco Paolo Lovergine <frankie@debian.org> (autoconfiscation)
+Mathieu Peyréga <mathieu.peyrega@gmail.com> (help with gravity models)
+Andrew MacIntyre <Andrew.MacIntyre@acma.gov.au> (python/setup.py)
+Skip Breidbach <skip.breidbach@sri.com> (maven support for Java)
+Scott Heiman <mrmtdew2@outlook.com> (.NET wrappers + C# examples)

gtsam/3rdparty/GeographicLib/CMakeLists.txt

@@ -0,0 +1,489 @@
+project (GeographicLib)
+
+# Version information
+set (PROJECT_VERSION_MAJOR 1)
+set (PROJECT_VERSION_MINOR 34)
+set (PROJECT_VERSION_PATCH 0)
+set (PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
+if (PROJECT_VERSION_PATCH GREATER 0)
+  set (PROJECT_VERSION "${PROJECT_VERSION}.${PROJECT_VERSION_PATCH}")
+endif ()
+
+set (CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+set (CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+set (CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+
+# The library version tracks the numbering given by libtool in the
+# autoconf set up.
+set (LIBVERSION 10)
+set (LIBVERSIONFULL 10.1.1)
+string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
+string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
+
+cmake_minimum_required (VERSION 2.8.4) # This version was released 2011-02-16
+
+# User-settable variables
+
+# (1) COMMON_INSTALL_PATH governs the installation convention.  If it
+# is on ON (the Linux default), the installation is to a common
+# directory, e.g., /usr/local.  If it is OFF (the Windows default),
+# the installation directory contains the package name, e.g.,
+# c:/pkg/GeographicLib-1.22.  The installation directories for the
+# documentation, cmake configuration, python and matlab interfaces all
+# depend on the variable with deeper paths relative to
+# CMAKE_INSTALL_PREFIX being used when it's ON.
+
+if (WIN32)
+  option (COMMON_INSTALL_PATH "Use a common installation path for packages" OFF)
+else ()
+  option (COMMON_INSTALL_PATH "Use a common installation path for packages" ON)
+endif ()
+
+# The use of PACKAGE_PATH and INSTALL_PATH is now DEPRECATED.
+# (2) PACKAGE_PATH and INSTALL_PATH govern the find_package search
+# path and the installation directory.  (find_package is not used by
+# GeographicLib since it doesn't depend on other packages.  However
+# PACKAGE_PATH is used here for uniformity with other packages which
+# adopt the same conventions.)
+#
+# If PACKAGE_PATH is defined, it is prepended to CMAKE_PREFIX_PATH.
+#
+# If INSTALL_PATH is not specified but PACKAGE_PATH is, then
+# INSTALL_PATH is set to
+#   ${PACKAGE_PATH}, if COMMON_INSTALL_PATH is ON;
+#   ${PACKAGE_PATH}/${PROJECT_NAME}-${PROJECT_VERSION}, otherwise.
+#
+# If INSTALL_PATH is now defined, then set CMAKE_INSTALL_PREFIX to
+# INSTALL_PATH.
+#
+# Typically, only PACKAGE_PATH needs to be specified, e.g.,
+# cmake -D PACKAGE_PATH=/opt .. (on Linux)
+#   => CMAKE_PREFIX_PATH=/opt   CMAKE_INSTALL_PREFIX=/opt
+# cmake -D PACKAGE_PATH=C:/pkg .. (on Windows)
+#   => CMAKE_PREFIX_PATH=C:/pkg CMAKE_INSTALL_PREFIX=C:/pkg/GeographicLib-1.22
+
+if (PACKAGE_PATH)
+  set (CMAKE_PREFIX_PATH ${PACKAGE_PATH} ${CMAKE_PREFIX_PATH})
+  message (STATUS "CMAKE_PREFIX_PATH set to ${CMAKE_PREFIX_PATH}")
+endif ()
+
+if (NOT INSTALL_PATH AND PACKAGE_PATH)
+  if (COMMON_INSTALL_PATH)
+    set (INSTALL_PATH ${PACKAGE_PATH} CACHE PATH "Installation directory" FORCE)
+  else ()
+    set (INSTALL_PATH ${PACKAGE_PATH}/${PROJECT_NAME}-${PROJECT_VERSION}
+      CACHE PATH "Installation directory" FORCE)
+  endif ()
+endif ()
+if (INSTALL_PATH)
+  file (TO_CMAKE_PATH ${INSTALL_PATH} CMAKE_INSTALL_PREFIX)
+  message (STATUS "CMAKE_INSTALL_PREFIX set to ${CMAKE_INSTALL_PREFIX}")
+endif ()
+
+# (3) Where to look for data files.  Various classes look in the geoids,
+# gravity, magnetic, subdirectories of ${GEOGRAPHICLIB_DATA}.
+if (WIN32)
+  # The binary installers for the data files for Windows are created
+  # with Inno Setup which uses {commonappdata}.  On most Windows
+  # systems this is
+  # "C:/Documents and Settings/All Users/Application Data", while on
+  # newer systems (Windows 7), it is C:/ProgramData.  However the
+  # longer name "works" on all Windows systems.
+  set (GEOGRAPHICLIB_DATA
+    "C:/Documents and Settings/All Users/Application Data/GeographicLib"
+    CACHE PATH "Location for data for GeographicLib")
+else ()
+  set (GEOGRAPHICLIB_DATA
+    "/usr/local/share/GeographicLib"
+    CACHE PATH "Location for data for GeographicLib")
+endif ()
+
+# (4) Build which libraries?  Possible values are SHARED, STATIC, BOTH.
+if (MSVC)
+  set (GEOGRAPHICLIB_LIB_TYPE STATIC CACHE STRING
+    "Types of library generated: SHARED, STATIC (default), or BOTH")
+else ()
+  set (GEOGRAPHICLIB_LIB_TYPE SHARED CACHE STRING
+    "Types of library generated: SHARED (default), STATIC, or BOTH")
+endif ()
+set_property (CACHE GEOGRAPHICLIB_LIB_TYPE
+  PROPERTY STRINGS "SHARED" "STATIC" "BOTH")
+
+if (GEOGRAPHICLIB_LIB_TYPE STREQUAL "BOTH")
+  set (GEOGRAPHICLIB_SHARED_LIB ON)
+  set (GEOGRAPHICLIB_STATIC_LIB ON)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 2)
+elseif (GEOGRAPHICLIB_LIB_TYPE STREQUAL "SHARED")
+  set (GEOGRAPHICLIB_SHARED_LIB ON)
+  set (GEOGRAPHICLIB_STATIC_LIB OFF)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 1)
+elseif (GEOGRAPHICLIB_LIB_TYPE STREQUAL "STATIC")
+  set (GEOGRAPHICLIB_SHARED_LIB OFF)
+  set (GEOGRAPHICLIB_STATIC_LIB ON)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 0)
+else ()
+  message (FATAL_ERROR
+    "Bad value of GEOGRAPHICLIB_LIB_TYPE, \"${GEOGRAPHICLIB_LIB_TYPE}\" "
+    "(should be SHARED, STATIC or BOTH)")
+endif ()
+
+if (GEOGRAPHICLIB_STATIC_LIB)
+  set (PROJECT_STATIC_LIBRARIES GeographicLib_STATIC)
+  set (PROJECT_STATIC_DEFINITIONS -DGEOGRAPHICLIB_SHARED_LIB=0)
+else ()
+  set (PROJECT_STATIC_LIBRARIES)
+  set (PROJECT_STATIC_DEFINITIONS)
+endif ()
+
+if (GEOGRAPHICLIB_SHARED_LIB)
+  set (PROJECT_SHARED_LIBRARIES GeographicLib)
+  set (PROJECT_LIBRARIES ${PROJECT_SHARED_LIBRARIES})
+  set (PROJECT_SHARED_DEFINITIONS -DGEOGRAPHICLIB_SHARED_LIB=1)
+  set (PROJECT_DEFINITIONS ${PROJECT_SHARED_DEFINITIONS})
+else ()
+  set (PROJECT_SHARED_LIBRARIES)
+  set (PROJECT_LIBRARIES ${PROJECT_STATIC_LIBRARIES})
+  set (PROJECT_SHARED_DEFINITIONS)
+  set (PROJECT_DEFINITIONS ${PROJECT_STATIC_DEFINITIONS})
+endif ()
+
+# (5) Compile the Matlab interfaces?  Skip Matlab compilation if OFF
+set (MATLAB_COMPILER OFF CACHE STRING
+  "Compiler for matlab/octave interface: mex or mkoctfile or OFF")
+set_property (CACHE MATLAB_COMPILER PROPERTY STRINGS "mex" "mkoctfile" OFF)
+
+# (6) Create the documentation?  This depends on whether doxygen can be
+# found.  If this is OFF, then links will be provided to the online
+# documentation on Sourceforge.
+option (GEOGRAPHICLIB_DOCUMENTATION
+  "Use doxygen to create the documentation" OFF)
+
+# (7) Build .NET wrapper library NETGeographicLib.  This only applies to
+# Windows.  Default is OFF, because, currently, most people don't use
+# this interface.
+option (BUILD_NETGEOGRAPHICLIB "Build NETGeographicLib library" OFF)
+
+# (8) Set the default "real" precision.  This should probably be left
+# at 2 (double).
+set (GEOGRAPHICLIB_PRECISION 2 CACHE STRING
+  "Default real precision: 1 = float, 2 = double, 3 = long double")
+set_property (CACHE GEOGRAPHICLIB_PRECISION PROPERTY STRINGS 1 2 3)
+
+# (9) When making a binary package, should we include the debug version
+# of the library?  This applies to MSVC only, because that's the
+# platform where debug and release compilations do not inter-operate.
+# It requires building as follows:
+#   cmake --build . --config Debug   --target ALL_BUILD
+#   cmake --build . --config Release --target ALL_BUILD
+#   cmake --build . --config Release --target PACKAGE
+option (PACKAGE_DEBUG_LIBS
+  "Include debug versions of library in binary package" OFF)
+
+set (LIBNAME Geographic)
+if (MSVC OR CMAKE_CONFIGURATION_TYPES)
+  # For multi-config systems and for Visual Studio, the debug version of
+  # the library is called Geographic_d.
+  set (CMAKE_DEBUG_POSTFIX _d)
+endif ()
+
+if (NOT MSVC)
+  # Set the run time path for shared libraries for non-Windows machines.
+  # (1) include link path for external packages (not needed with
+  # GeographicLib because there are no external packages).
+  set (CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  # (2) include installed path for GeographicLib.
+  if (NOT APPLE)
+    # Use relative path so that package is relocatable
+    set (CMAKE_INSTALL_RPATH "\$ORIGIN/../lib${LIB_SUFFIX}")
+  else ()
+    # Need absolute path with MacOSx
+    set (CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}")
+  endif ()
+endif ()
+
+if (NOT CYGWIN)
+  # cygwin has a long double but the support for ::cbrtl etc is missing
+  include (CheckTypeSize)
+  check_type_size ("long double" LONG_DOUBLE BUILTIN_TYPES_ONLY)
+endif ()
+include (TestBigEndian)
+test_big_endian (WORDS_BIGENDIAN)
+
+# Create a Config.h to expose system information to the compiler
+configure_file (
+  include/GeographicLib/Config.h.in
+  include/GeographicLib/Config.h )
+
+# The documentation depends on doxygen.  Need version 1.8.1.2 or later
+# for support of greek letters and math symbols.
+if (GEOGRAPHICLIB_DOCUMENTATION)
+  set (DOXYGEN_SKIP_DOT ON)
+  find_package (Doxygen 1.8.1.2)
+  if (DOXYGEN_FOUND)
+    execute_process (COMMAND ${DOXYGEN_EXECUTABLE} --version
+      OUTPUT_VARIABLE DOXYGEN_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if (DOXYGEN_VERSION VERSION_LESS 1.4.0)
+      set (DOXYGEN_FOUND FALSE)
+      message (STATUS "Doxygen version found, ${DOXYGEN_VERSION}, is too old")
+    endif ()
+  endif ()
+endif ()
+
+# The man pages are written as pod files and converted to nroff format,
+# C++ code, and html.  Because this require tools that may not be
+# available on an end-user's system, the creation of the final
+# documentation is therefore only done in "MAINTAINER" mode.  The
+# maintainer runs "make distrib-all" which installs the transformed
+# documentation files into the source tree.
+if (NOT WIN32 AND NOT APPLE)
+  find_program (HAVE_POD2MAN pod2man)
+  find_program (HAVE_POD2HTML pod2html)
+  find_program (HAVE_COL col)
+endif ()
+if (HAVE_POD2MAN AND HAVE_POD2HTML AND HAVE_COL)
+  set (MAINTAINER ON)
+else ()
+  set (MAINTAINER OFF)
+endif ()
+if (MAINTAINER)
+  add_custom_target (distrib-all)
+  add_dependencies (distrib-all distrib-man)
+endif ()
+
+# Look for the tool to compile the Matlab interfaces.
+if (MATLAB_COMPILER)
+  if (WIN32)
+    set (MATLAB_COMPILER_EXT ".bat")
+  else ()
+    set (MATLAB_COMPILER_EXT "")
+  endif ()
+  find_program (MEX "${MATLAB_COMPILER}${MATLAB_COMPILER_EXT}")
+  if (MATLAB_COMPILER MATCHES "mex")
+    get_filename_component (MATLABDIR "${MEX}" REALPATH)
+    get_filename_component (MATLABDIR "${MATLABDIR}" PATH)
+    find_program (MEXEXTPROG "mexext${MATLAB_COMPILER_EXT}"
+      PATHS "${MATLABDIR}")
+    execute_process (COMMAND "${MEXEXTPROG}"
+      OUTPUT_VARIABLE MEXEXT OUTPUT_STRIP_TRAILING_WHITESPACE)
+    set (MEXOPTIONS "-largeArrayDims")
+  else ()
+    set (MEXEXT "mex")
+    set (MEXOPTIONS "--mex")
+  endif ()
+  if (NOT MSVC)
+    # mex files are shared objects => require static lib to be built with
+    # position independent code
+    set (CMAKE_POSITION_INDEPENDENT_CODE ON)
+  endif ()
+  if (NOT MEX)
+    message (WARNING
+      "Cannot find Matlab compiler ${MATLAB_COMPILER}${MATLAB_COMPILER_EXT}")
+  elseif (NOT MEXEXT)
+    set (MEX OFF)
+    message (WARNING "Cannot determine extension for Matlab compiled code")
+  endif ()
+endif ()
+
+# Set a default build type for single-configuration cmake generators if
+# no build type is set.
+if (NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set (CMAKE_BUILD_TYPE Release)
+endif ()
+
+# Make the compiler more picky.
+if (MSVC)
+  string (REGEX REPLACE "/W[0-4]" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+else ()
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+  # check for C++11 support
+  include (CheckCXXCompilerFlag)
+  set (CXX11FLAG "-std=c++11")
+  check_cxx_compiler_flag (${CXX11FLAG} CXX11TEST1)
+  if (NOT CXX11TEST1)
+    set (CXX11FLAG "-std=c++0x")
+    check_cxx_compiler_flag (${CXX11FLAG} CXX11TEST2)
+    if (NOT CXX11TEST2)
+      unset (CXX11FLAG)
+    endif ()
+  endif ()
+  if (CXX11FLAG)
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11FLAG}")
+  endif ()
+endif ()
+
+if (APPLE)
+  if (CMAKE_SYSTEM_PROCESSOR MATCHES "i.86" OR
+      CMAKE_SYSTEM_PROCESSOR MATCHES "amd64" OR
+      CMAKE_SYSTEM_PROCESSOR MATCHES "x86")
+    set (CMAKE_OSX_ARCHITECTURES "i386 -arch x86_64")
+  endif ()
+endif ()
+
+# The list of tools (to be installed into, e.g., /usr/local/bin)
+set (TOOLS CartConvert ConicProj GeodesicProj GeoConvert GeodSolve
+  GeoidEval Gravity MagneticField Planimeter TransverseMercatorProj)
+# The list of scripts (to be installed into, e.g., /usr/local/sbin)
+set (SCRIPTS
+  geographiclib-get-geoids geographiclib-get-gravity geographiclib-get-magnetic)
+
+set_property (GLOBAL PROPERTY USE_FOLDERS ON)
+
+# Set the include directories.  Look in ${PROJECT_BINARY_DIR}/include
+# first because that's where Config.h will be
+include_directories ("${PROJECT_BINARY_DIR}/include" include)
+
+# The list of subdirectories to process
+add_subdirectory (src)
+add_subdirectory (include/GeographicLib)
+add_subdirectory (tools)
+add_subdirectory (man)
+add_subdirectory (doc)
+add_subdirectory (matlab)
+add_subdirectory (python/geographiclib)
+# if (GEOGRAPHICLIB_PRECISION EQUAL 2)
+#   # The examples assume double precision
+#   add_subdirectory (examples)
+# endif ()
+if (BUILD_NETGEOGRAPHICLIB)
+  set (NETGEOGRAPHICLIB_LIBRARIES NETGeographicLib)
+  set (NETLIBNAME NETGeographic)
+  add_subdirectory (dotnet/NETGeographicLib)
+  if (GEOGRAPHICLIB_PRECISION EQUAL 2)
+    add_subdirectory (dotnet/examples/ManagedCPP)
+  endif ()
+endif ()
+add_subdirectory (cmake)
+if (EXISTS ${PROJECT_SOURCE_DIR}/tests/CMakeLists.txt)
+  add_subdirectory (tests)
+endif ()
+
+# Packaging support; we deal with
+# (1) a source distribution: cmake make a tar.gz file and the zip file
+# is created from this.  Only the maintainer can do this, because of
+# the need to generate additional documentation files.
+# (2) a binary distribution: code is included for Linux, Apple, and
+# Windows, but only the Windows distribution has been exercised.
+
+# Need to ensure that system dlls get included in a binary distribution
+if (NOT DEFINED CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS)
+  # Visual Studio Express does include redistributable components so
+  # squelch the warning.
+  set (CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS ON)
+endif ()
+set (CMAKE_INSTALL_DEBUG_LIBRARIES ON)
+include (InstallRequiredSystemLibraries)
+
+# The configuration of CPack is via variable that need to be set before
+# the include (CPack).
+set (CPACK_PACKAGE_CONTACT charles@karney.com)
+set (CPACK_PACKAGE_VENDOR "GeographicLib")
+set (CPACK_PACKAGE_DESCRIPTION_SUMMARY
+  "GeographicLib library, utilities, and documentation")
+# The list of files to be excluded from the source distribution.
+set (CPACK_SOURCE_IGNORE_FILES
+  "#"
+  "~\$"
+  "/\\\\.git"
+  "${PROJECT_SOURCE_DIR}/BUILD"
+  "${PROJECT_SOURCE_DIR}/(tests|testdata|cgi-bin|.*\\\\.cache)/"
+  "${PROJECT_SOURCE_DIR}/(distrib|.*-distrib|.*-installer|geodesic-papers)/"
+  "${PROJECT_SOURCE_DIR}/[^/]*\\\\.(html|kmz|pdf|xml)\$"
+  "${PROJECT_SOURCE_DIR}/(autogen|biblio|js-compress)\\\\.sh\$"
+  "${PROJECT_SOURCE_DIR}/(geodesic-biblio.txt|makefile-admin|[^/]*\\\\.png)\$"
+  "${PROJECT_SOURCE_DIR}/matlab/matlab-.*blurb.txt\$" )
+set (CPACK_SOURCE_GENERATOR TGZ)
+
+set (CPACK_RESOURCE_FILE_LICENSE ${PROJECT_SOURCE_DIR}/LICENSE.txt)
+set (CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}-${PROJECT_VERSION}")
+set (CPACK_SOURCE_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}")
+
+if (WIN32)
+  # The Windows binary packager is NSIS.  Set the necessary variables
+  # for this.
+  set (CPACK_NSIS_CONTACT "charles@karney.com")
+  set (CPACK_NSIS_URL_INFO_ABOUT "http://geographiclib.sf.net")
+  set (CPACK_NSIS_HELP_LINK "mailto:charles@karney.com")
+  if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+    # Hardcode the prefix for Visual Studio 10
+    set (CPACK_NSIS_INSTALL_ROOT "C:\\\\pkg-vc10-x64")
+    set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-win64")
+    set (CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME} x64 ${PROJECT_VERSION}")
+    set (CPACK_PACKAGE_INSTALL_REGISTRY_KEY
+      "${PROJECT_NAME}-x64-${PROJECT_VERSION}")
+  else ()
+    # Hardcode the prefix for Visual Studio 10
+    set (CPACK_NSIS_INSTALL_ROOT "C:\\\\pkg-vc10")
+    set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-win32")
+    set (CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME} ${PROJECT_VERSION}")
+    set (CPACK_PACKAGE_INSTALL_REGISTRY_KEY
+      "${PROJECT_NAME}-${PROJECT_VERSION}")
+  endif ()
+  set (CPACK_NSIS_DISPLAY_NAME ${CPACK_NSIS_PACKAGE_NAME})
+  set (CPACK_NSIS_MENU_LINKS
+    "http://geographiclib.sf.net/${PROJECT_VERSION}/index.html"
+    "Library documentation"
+    "http://geographiclib.sf.net/${PROJECT_VERSION}/utilities.html"
+    "Utilities documentation"
+    "http://geographiclib.sf.net" "GeographicLib home page"
+    "http://sf.net/projects/geographiclib/" "Main project page")
+  set (CPACK_NSIS_MODIFY_PATH ON)
+elseif (APPLE)
+  # Not tested
+  set (CPACK_GENERATOR Bundle)
+  set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-darwin")
+else ()
+  # Not tested
+  set (CPACK_GENERATOR TGZ)
+endif ()
+
+include (CPack)
+
+# Another maintainer-specific target is building the source distribution
+# via the target dist.  This calls package_source to make a tar.gz file.
+# However this needs to be touched up to support the vanilla Makefiles
+# provided with GeographicLib.  This entails
+# (1) creating Makefile (which includes Makefile.mk);
+# (2) creating a bare-bones Config.h (with just the version information);
+# (3) making sure that make thinks the generated documentation files are
+# up-to-date.
+# Then a new tar.gz file and zip file are created.  To avoid potential
+# problems with directory permissions, tar and zip are told only to
+# archive the files.
+if (MAINTAINER)
+  add_custom_target (dist
+    COMMAND ${CMAKE_MAKE_PROGRAM} package_source
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME} &&
+      echo include Makefile.mk > Makefile &&
+      sed -e "s/Unconfigured/${PROJECT_VERSION}/"
+      -e "s/MAJOR .*/MAJOR ${CPACK_PACKAGE_VERSION_MAJOR}/"
+      -e "s/MINOR .*/MINOR ${CPACK_PACKAGE_VERSION_MINOR}/"
+      -e "s/PATCH .*/PATCH ${CPACK_PACKAGE_VERSION_PATCH}/"
+      include/GeographicLib/Config.h > include/GeographicLib/Config.h.new &&
+      mv include/GeographicLib/Config.h.new include/GeographicLib/Config.h
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME} &&
+      touch man/[A-Za-z]*.usage man/[A-Za-z]*.1 man/[A-Za-z]*.1.html &&
+      chmod -R g-w .
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ &&
+      find ${CPACK_SOURCE_PACKAGE_FILE_NAME} -type f |
+      tar cfzT ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.tar.gz -
+    COMMAND
+      rm -f ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.zip &&
+      rsync -a --delete
+      _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME}
+      _CPack_Packages/Linux-Source/TGZ.DOS/ &&
+      cd _CPack_Packages/Linux-Source/TGZ.DOS &&
+      find . -type f |
+      egrep  '/\(doxyfile.*\\.in|MANIFEST.in|NEWS|AUTHORS|INSTALL|pom\\.xml|dummy.*\\.in|.*\\.\(cpp|hpp|h\\.in|txt|pro|usage|pod|py|m|mac|cmake\\.in|cmake|h|js|c|for|dox|cs|vb|inc|java|html\\.in\)\)$$' |
+      xargs unix2dos -q -k &&
+      find ${CPACK_SOURCE_PACKAGE_FILE_NAME} -type f |
+      zip -q ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.zip -@
+  )
+  add_dependencies (dist distrib-all)
+endif ()
+
+# Add a test target; the tests are in tools.
+enable_testing ()

gtsam/3rdparty/GeographicLib/INSTALL

@@ -0,0 +1,3 @@
+For installation instructions, open
+
+  http://geographiclib.sourceforge.net/html/install.html

gtsam/3rdparty/GeographicLib/LICENSE.txt

@@ -0,0 +1,23 @@
+This license applies to GeographicLib, versions 1.12 and later.
+
+Copyright (c) 2008-2013, Charles Karney
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use, copy,
+modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT.  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

gtsam/3rdparty/GeographicLib/Makefile

@@ -0,0 +1 @@
+include Makefile.mk

gtsam/3rdparty/GeographicLib/Makefile.am

@@ -0,0 +1,51 @@
+#
+# Makefile.am
+#
+# Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+
+AUTOMAKE_OPTIONS = foreign
+
+ACLOCAL_AMFLAGS = -I m4
+
+SUBDIRS = src man tools doc include matlab python cmake examples
+
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
+
+dist-hook:
+	rm -rf $(distdir)/doc/html $(distdir)/doc/manpages ; \
+	find $(distdir)/maxima -type f -name '*.lsp' | xargs rm -rf ; \
+	rm -rf $(distdir)/java/targets ; \
+	find $(distdir)/java -type f -name '*.class' | xargs rm -rf ; \
+	find $(distdir)/windows -mindepth 1 -type d | xargs rm -rf ; \
+	find $(distdir)/windows -type f \
+		! \( -name '*.sln' -o -name '*.vc*proj' -o -name '*.mk' \)| \
+		xargs rm -f ; \
+	find $(distdir) \
+		\( -name .svn -o -name '.git*' -o -name CVS -o -name Makefile -o -name '*~' -o -name '*#*' -o -name 'CMakeFiles' -o -name '*.log' -o -name '*.tmp' -o -name '*.pyc' -o -name '*.bak' -o -name '*.BAK' -o -name geographiclib.js \)| \
+		xargs rm -rf ; \
+	echo include Makefile.mk > $(distdir)/Makefile ; \
+	sed -e "s/Unconfigured/$(PACKAGE_VERSION)/" \
+		-e "s/MAJOR .*/MAJOR ${GEOGRAPHICLIB_VERSION_MAJOR}/" \
+		-e "s/MINOR .*/MINOR ${GEOGRAPHICLIB_VERSION_MINOR}/" \
+		-e "s/PATCH .*/PATCH ${GEOGRAPHICLIB_VERSION_PATCH}/" \
+		$(top_srcdir)/include/GeographicLib/Config.h > \
+		$(distdir)/include/GeographicLib/Config.h
+# Custom rules
+
+all-local: man doc
+install-data-local: install-doc # install-matlab
+
+doc: man
+	$(MAKE) -C doc doc
+
+install-doc:
+	$(MAKE) -C doc install-doc
+
+man:
+	$(MAKE) -C man man
+
+# install-matlab:
+# 	$(MAKE) -C matlab install-matlab
+
+.PHONY: doc install-doc man install-matlab install-python

gtsam/3rdparty/GeographicLib/Makefile.in

@@ -0,0 +1,832 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+#
+# Makefile.am
+#
+# Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = .
+DIST_COMMON = $(am__configure_deps) $(srcdir)/Makefile.am \
+	$(srcdir)/Makefile.in $(top_srcdir)/configure \
+	$(top_srcdir)/include/GeographicLib/Config-ac.h.in AUTHORS \
+	INSTALL NEWS config.guess config.sub depcomp install-sh \
+	ltmain.sh missing
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+am__CONFIG_DISTCLEAN_FILES = config.status config.cache config.log \
+ configure.lineno config.status.lineno
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+RECURSIVE_TARGETS = all-recursive check-recursive dvi-recursive \
+	html-recursive info-recursive install-data-recursive \
+	install-dvi-recursive install-exec-recursive \
+	install-html-recursive install-info-recursive \
+	install-pdf-recursive install-ps-recursive install-recursive \
+	installcheck-recursive installdirs-recursive pdf-recursive \
+	ps-recursive uninstall-recursive
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive	\
+  distclean-recursive maintainer-clean-recursive
+AM_RECURSIVE_TARGETS = $(RECURSIVE_TARGETS:-recursive=) \
+	$(RECURSIVE_CLEAN_TARGETS:-recursive=) tags TAGS ctags CTAGS \
+	cscope distdir dist dist-all distcheck
+ETAGS = etags
+CTAGS = ctags
+CSCOPE = cscope
+DIST_SUBDIRS = $(SUBDIRS)
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+distdir = $(PACKAGE)-$(VERSION)
+top_distdir = $(distdir)
+am__remove_distdir = \
+  if test -d "$(distdir)"; then \
+    find "$(distdir)" -type d ! -perm -200 -exec chmod u+w {} ';' \
+      && rm -rf "$(distdir)" \
+      || { sleep 5 && rm -rf "$(distdir)"; }; \
+  else :; fi
+am__post_remove_distdir = $(am__remove_distdir)
+am__relativize = \
+  dir0=`pwd`; \
+  sed_first='s,^\([^/]*\)/.*$$,\1,'; \
+  sed_rest='s,^[^/]*/*,,'; \
+  sed_last='s,^.*/\([^/]*\)$$,\1,'; \
+  sed_butlast='s,/*[^/]*$$,,'; \
+  while test -n "$$dir1"; do \
+    first=`echo "$$dir1" | sed -e "$$sed_first"`; \
+    if test "$$first" != "."; then \
+      if test "$$first" = ".."; then \
+        dir2=`echo "$$dir0" | sed -e "$$sed_last"`/"$$dir2"; \
+        dir0=`echo "$$dir0" | sed -e "$$sed_butlast"`; \
+      else \
+        first2=`echo "$$dir2" | sed -e "$$sed_first"`; \
+        if test "$$first2" = "$$first"; then \
+          dir2=`echo "$$dir2" | sed -e "$$sed_rest"`; \
+        else \
+          dir2="../$$dir2"; \
+        fi; \
+        dir0="$$dir0"/"$$first"; \
+      fi; \
+    fi; \
+    dir1=`echo "$$dir1" | sed -e "$$sed_rest"`; \
+  done; \
+  reldir="$$dir2"
+DIST_ARCHIVES = $(distdir).tar.gz
+GZIP_ENV = --best
+DIST_TARGETS = dist-gzip
+distuninstallcheck_listfiles = find . -type f -print
+am__distuninstallcheck_listfiles = $(distuninstallcheck_listfiles) \
+  | sed 's|^\./|$(prefix)/|' | grep -v '$(infodir)/dir$$'
+distcleancheck_listfiles = find . -type f -print
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+AUTOMAKE_OPTIONS = foreign
+ACLOCAL_AMFLAGS = -I m4
+SUBDIRS = src man tools doc include matlab python cmake examples
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
+
+all: all-recursive
+
+.SUFFIXES:
+am--refresh: Makefile
+	@:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      echo ' cd $(srcdir) && $(AUTOMAKE) --foreign'; \
+	      $(am__cd) $(srcdir) && $(AUTOMAKE) --foreign \
+		&& exit 0; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    echo ' $(SHELL) ./config.status'; \
+	    $(SHELL) ./config.status;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	$(SHELL) ./config.status --recheck
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	$(am__cd) $(srcdir) && $(AUTOCONF)
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	$(am__cd) $(srcdir) && $(ACLOCAL) $(ACLOCAL_AMFLAGS)
+$(am__aclocal_m4_deps):
+
+include/GeographicLib/Config-ac.h: include/GeographicLib/stamp-h1
+	@if test ! -f $@; then rm -f include/GeographicLib/stamp-h1; else :; fi
+	@if test ! -f $@; then $(MAKE) $(AM_MAKEFLAGS) include/GeographicLib/stamp-h1; else :; fi
+
+include/GeographicLib/stamp-h1: $(top_srcdir)/include/GeographicLib/Config-ac.h.in $(top_builddir)/config.status
+	@rm -f include/GeographicLib/stamp-h1
+	cd $(top_builddir) && $(SHELL) ./config.status include/GeographicLib/Config-ac.h
+$(top_srcdir)/include/GeographicLib/Config-ac.h.in: @MAINTAINER_MODE_TRUE@ $(am__configure_deps) 
+	($(am__cd) $(top_srcdir) && $(AUTOHEADER))
+	rm -f include/GeographicLib/stamp-h1
+	touch $@
+
+distclean-hdr:
+	-rm -f include/GeographicLib/Config-ac.h include/GeographicLib/stamp-h1
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+distclean-libtool:
+	-rm -f libtool config.lt
+
+# This directory's subdirectories are mostly independent; you can cd
+# into them and run 'make' without going through this Makefile.
+# To change the values of 'make' variables: instead of editing Makefiles,
+# (1) if the variable is set in 'config.status', edit 'config.status'
+#     (which will cause the Makefiles to be regenerated when you run 'make');
+# (2) otherwise, pass the desired values on the 'make' command line.
+$(RECURSIVE_TARGETS) $(RECURSIVE_CLEAN_TARGETS):
+	@fail= failcom='exit 1'; \
+	for f in x $$MAKEFLAGS; do \
+	  case $$f in \
+	    *=* | --[!k]*);; \
+	    *k*) failcom='fail=yes';; \
+	  esac; \
+	done; \
+	dot_seen=no; \
+	target=`echo $@ | sed s/-recursive//`; \
+	case "$@" in \
+	  distclean-* | maintainer-clean-*) list='$(DIST_SUBDIRS)' ;; \
+	  *) list='$(SUBDIRS)' ;; \
+	esac; \
+	for subdir in $$list; do \
+	  echo "Making $$target in $$subdir"; \
+	  if test "$$subdir" = "."; then \
+	    dot_seen=yes; \
+	    local_target="$$target-am"; \
+	  else \
+	    local_target="$$target"; \
+	  fi; \
+	  ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) $$local_target) \
+	  || eval $$failcom; \
+	done; \
+	if test "$$dot_seen" = "no"; then \
+	  $(MAKE) $(AM_MAKEFLAGS) "$$target-am" || exit 1; \
+	fi; test -z "$$fail"
+tags-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) tags); \
+	done
+ctags-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) ctags); \
+	done
+cscopelist-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) cscopelist); \
+	done
+
+ID: $(HEADERS) $(SOURCES) $(LISP) $(TAGS_FILES)
+	list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	mkid -fID $$unique
+tags: TAGS
+
+TAGS: tags-recursive $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	set x; \
+	here=`pwd`; \
+	if ($(ETAGS) --etags-include --version) >/dev/null 2>&1; then \
+	  include_option=--etags-include; \
+	  empty_fix=.; \
+	else \
+	  include_option=--include; \
+	  empty_fix=; \
+	fi; \
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    test ! -f $$subdir/TAGS || \
+	      set "$$@" "$$include_option=$$here/$$subdir/TAGS"; \
+	  fi; \
+	done; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: CTAGS
+CTAGS: ctags-recursive $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+
+cscope: cscope.files
+	test ! -s cscope.files \
+	  || $(CSCOPE) -b -q $(AM_CSCOPEFLAGS) $(CSCOPEFLAGS) -i cscope.files $(CSCOPE_ARGS)
+
+clean-cscope:
+	-rm -f cscope.files
+
+cscope.files: clean-cscope cscopelist-recursive cscopelist
+
+cscopelist: cscopelist-recursive $(HEADERS) $(SOURCES) $(LISP)
+	list='$(SOURCES) $(HEADERS) $(LISP)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+	-rm -f cscope.out cscope.in.out cscope.po.out cscope.files
+
+distdir: $(DISTFILES)
+	$(am__remove_distdir)
+	test -d "$(distdir)" || mkdir "$(distdir)"
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+	@list='$(DIST_SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    $(am__make_dryrun) \
+	      || test -d "$(distdir)/$$subdir" \
+	      || $(MKDIR_P) "$(distdir)/$$subdir" \
+	      || exit 1; \
+	    dir1=$$subdir; dir2="$(distdir)/$$subdir"; \
+	    $(am__relativize); \
+	    new_distdir=$$reldir; \
+	    dir1=$$subdir; dir2="$(top_distdir)"; \
+	    $(am__relativize); \
+	    new_top_distdir=$$reldir; \
+	    echo " (cd $$subdir && $(MAKE) $(AM_MAKEFLAGS) top_distdir="$$new_top_distdir" distdir="$$new_distdir" \\"; \
+	    echo "     am__remove_distdir=: am__skip_length_check=: am__skip_mode_fix=: distdir)"; \
+	    ($(am__cd) $$subdir && \
+	      $(MAKE) $(AM_MAKEFLAGS) \
+	        top_distdir="$$new_top_distdir" \
+	        distdir="$$new_distdir" \
+		am__remove_distdir=: \
+		am__skip_length_check=: \
+		am__skip_mode_fix=: \
+	        distdir) \
+	      || exit 1; \
+	  fi; \
+	done
+	$(MAKE) $(AM_MAKEFLAGS) \
+	  top_distdir="$(top_distdir)" distdir="$(distdir)" \
+	  dist-hook
+	-test -n "$(am__skip_mode_fix)" \
+	|| find "$(distdir)" -type d ! -perm -755 \
+		-exec chmod u+rwx,go+rx {} \; -o \
+	  ! -type d ! -perm -444 -links 1 -exec chmod a+r {} \; -o \
+	  ! -type d ! -perm -400 -exec chmod a+r {} \; -o \
+	  ! -type d ! -perm -444 -exec $(install_sh) -c -m a+r {} {} \; \
+	|| chmod -R a+r "$(distdir)"
+dist-gzip: distdir
+	tardir=$(distdir) && $(am__tar) | GZIP=$(GZIP_ENV) gzip -c >$(distdir).tar.gz
+	$(am__post_remove_distdir)
+
+dist-bzip2: distdir
+	tardir=$(distdir) && $(am__tar) | BZIP2=$${BZIP2--9} bzip2 -c >$(distdir).tar.bz2
+	$(am__post_remove_distdir)
+
+dist-lzip: distdir
+	tardir=$(distdir) && $(am__tar) | lzip -c $${LZIP_OPT--9} >$(distdir).tar.lz
+	$(am__post_remove_distdir)
+
+dist-xz: distdir
+	tardir=$(distdir) && $(am__tar) | XZ_OPT=$${XZ_OPT--e} xz -c >$(distdir).tar.xz
+	$(am__post_remove_distdir)
+
+dist-tarZ: distdir
+	tardir=$(distdir) && $(am__tar) | compress -c >$(distdir).tar.Z
+	$(am__post_remove_distdir)
+
+dist-shar: distdir
+	shar $(distdir) | GZIP=$(GZIP_ENV) gzip -c >$(distdir).shar.gz
+	$(am__post_remove_distdir)
+
+dist-zip: distdir
+	-rm -f $(distdir).zip
+	zip -rq $(distdir).zip $(distdir)
+	$(am__post_remove_distdir)
+
+dist dist-all:
+	$(MAKE) $(AM_MAKEFLAGS) $(DIST_TARGETS) am__post_remove_distdir='@:'
+	$(am__post_remove_distdir)
+
+# This target untars the dist file and tries a VPATH configuration.  Then
+# it guarantees that the distribution is self-contained by making another
+# tarfile.
+distcheck: dist
+	case '$(DIST_ARCHIVES)' in \
+	*.tar.gz*) \
+	  GZIP=$(GZIP_ENV) gzip -dc $(distdir).tar.gz | $(am__untar) ;;\
+	*.tar.bz2*) \
+	  bzip2 -dc $(distdir).tar.bz2 | $(am__untar) ;;\
+	*.tar.lz*) \
+	  lzip -dc $(distdir).tar.lz | $(am__untar) ;;\
+	*.tar.xz*) \
+	  xz -dc $(distdir).tar.xz | $(am__untar) ;;\
+	*.tar.Z*) \
+	  uncompress -c $(distdir).tar.Z | $(am__untar) ;;\
+	*.shar.gz*) \
+	  GZIP=$(GZIP_ENV) gzip -dc $(distdir).shar.gz | unshar ;;\
+	*.zip*) \
+	  unzip $(distdir).zip ;;\
+	esac
+	chmod -R a-w $(distdir); chmod u+w $(distdir)
+	mkdir $(distdir)/_build
+	mkdir $(distdir)/_inst
+	chmod a-w $(distdir)
+	test -d $(distdir)/_build || exit 0; \
+	dc_install_base=`$(am__cd) $(distdir)/_inst && pwd | sed -e 's,^[^:\\/]:[\\/],/,'` \
+	  && dc_destdir="$${TMPDIR-/tmp}/am-dc-$$$$/" \
+	  && am__cwd=`pwd` \
+	  && $(am__cd) $(distdir)/_build \
+	  && ../configure --srcdir=.. --prefix="$$dc_install_base" \
+	    $(AM_DISTCHECK_CONFIGURE_FLAGS) \
+	    $(DISTCHECK_CONFIGURE_FLAGS) \
+	  && $(MAKE) $(AM_MAKEFLAGS) \
+	  && $(MAKE) $(AM_MAKEFLAGS) dvi \
+	  && $(MAKE) $(AM_MAKEFLAGS) check \
+	  && $(MAKE) $(AM_MAKEFLAGS) install \
+	  && $(MAKE) $(AM_MAKEFLAGS) installcheck \
+	  && $(MAKE) $(AM_MAKEFLAGS) uninstall \
+	  && $(MAKE) $(AM_MAKEFLAGS) distuninstallcheck_dir="$$dc_install_base" \
+	        distuninstallcheck \
+	  && chmod -R a-w "$$dc_install_base" \
+	  && ({ \
+	       (cd ../.. && umask 077 && mkdir "$$dc_destdir") \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" install \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" uninstall \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" \
+	            distuninstallcheck_dir="$$dc_destdir" distuninstallcheck; \
+	      } || { rm -rf "$$dc_destdir"; exit 1; }) \
+	  && rm -rf "$$dc_destdir" \
+	  && $(MAKE) $(AM_MAKEFLAGS) dist \
+	  && rm -rf $(DIST_ARCHIVES) \
+	  && $(MAKE) $(AM_MAKEFLAGS) distcleancheck \
+	  && cd "$$am__cwd" \
+	  || exit 1
+	$(am__post_remove_distdir)
+	@(echo "$(distdir) archives ready for distribution: "; \
+	  list='$(DIST_ARCHIVES)'; for i in $$list; do echo $$i; done) | \
+	  sed -e 1h -e 1s/./=/g -e 1p -e 1x -e '$$p' -e '$$x'
+distuninstallcheck:
+	@test -n '$(distuninstallcheck_dir)' || { \
+	  echo 'ERROR: trying to run $@ with an empty' \
+	       '$$(distuninstallcheck_dir)' >&2; \
+	  exit 1; \
+	}; \
+	$(am__cd) '$(distuninstallcheck_dir)' || { \
+	  echo 'ERROR: cannot chdir into $(distuninstallcheck_dir)' >&2; \
+	  exit 1; \
+	}; \
+	test `$(am__distuninstallcheck_listfiles) | wc -l` -eq 0 \
+	   || { echo "ERROR: files left after uninstall:" ; \
+	        if test -n "$(DESTDIR)"; then \
+	          echo "  (check DESTDIR support)"; \
+	        fi ; \
+	        $(distuninstallcheck_listfiles) ; \
+	        exit 1; } >&2
+distcleancheck: distclean
+	@if test '$(srcdir)' = . ; then \
+	  echo "ERROR: distcleancheck can only run from a VPATH build" ; \
+	  exit 1 ; \
+	fi
+	@test `$(distcleancheck_listfiles) | wc -l` -eq 0 \
+	  || { echo "ERROR: files left in build directory after distclean:" ; \
+	       $(distcleancheck_listfiles) ; \
+	       exit 1; } >&2
+check-am: all-am
+check: check-recursive
+all-am: Makefile all-local
+installdirs: installdirs-recursive
+installdirs-am:
+install: install-recursive
+install-exec: install-exec-recursive
+install-data: install-data-recursive
+uninstall: uninstall-recursive
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-recursive
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-recursive
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-recursive
+	-rm -f $(am__CONFIG_DISTCLEAN_FILES)
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic distclean-hdr \
+	distclean-libtool distclean-tags
+
+dvi: dvi-recursive
+
+dvi-am:
+
+html: html-recursive
+
+html-am:
+
+info: info-recursive
+
+info-am:
+
+install-data-am: install-data-local
+
+install-dvi: install-dvi-recursive
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-recursive
+
+install-html-am:
+
+install-info: install-info-recursive
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-recursive
+
+install-pdf-am:
+
+install-ps: install-ps-recursive
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-recursive
+	-rm -f $(am__CONFIG_DISTCLEAN_FILES)
+	-rm -rf $(top_srcdir)/autom4te.cache
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-recursive
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-recursive
+
+pdf-am:
+
+ps: ps-recursive
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: $(RECURSIVE_CLEAN_TARGETS) $(RECURSIVE_TARGETS) \
+	cscopelist-recursive ctags-recursive install-am install-strip \
+	tags-recursive
+
+.PHONY: $(RECURSIVE_CLEAN_TARGETS) $(RECURSIVE_TARGETS) CTAGS GTAGS \
+	all all-am all-local am--refresh check check-am clean \
+	clean-cscope clean-generic clean-libtool cscope cscopelist \
+	cscopelist-recursive ctags ctags-recursive dist dist-all \
+	dist-bzip2 dist-gzip dist-hook dist-lzip dist-shar dist-tarZ \
+	dist-xz dist-zip distcheck distclean distclean-generic \
+	distclean-hdr distclean-libtool distclean-tags distcleancheck \
+	distdir distuninstallcheck dvi dvi-am html html-am info \
+	info-am install install-am install-data install-data-am \
+	install-data-local install-dvi install-dvi-am install-exec \
+	install-exec-am install-html install-html-am install-info \
+	install-info-am install-man install-pdf install-pdf-am \
+	install-ps install-ps-am install-strip installcheck \
+	installcheck-am installdirs installdirs-am maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-generic \
+	mostlyclean-libtool pdf pdf-am ps ps-am tags tags-recursive \
+	uninstall uninstall-am
+
+
+dist-hook:
+	rm -rf $(distdir)/doc/html $(distdir)/doc/manpages ; \
+	find $(distdir)/maxima -type f -name '*.lsp' | xargs rm -rf ; \
+	rm -rf $(distdir)/java/targets ; \
+	find $(distdir)/java -type f -name '*.class' | xargs rm -rf ; \
+	find $(distdir)/windows -mindepth 1 -type d | xargs rm -rf ; \
+	find $(distdir)/windows -type f \
+		! \( -name '*.sln' -o -name '*.vc*proj' -o -name '*.mk' \)| \
+		xargs rm -f ; \
+	find $(distdir) \
+		\( -name .svn -o -name '.git*' -o -name CVS -o -name Makefile -o -name '*~' -o -name '*#*' -o -name 'CMakeFiles' -o -name '*.log' -o -name '*.tmp' -o -name '*.pyc' -o -name '*.bak' -o -name '*.BAK' -o -name geographiclib.js \)| \
+		xargs rm -rf ; \
+	echo include Makefile.mk > $(distdir)/Makefile ; \
+	sed -e "s/Unconfigured/$(PACKAGE_VERSION)/" \
+		-e "s/MAJOR .*/MAJOR ${GEOGRAPHICLIB_VERSION_MAJOR}/" \
+		-e "s/MINOR .*/MINOR ${GEOGRAPHICLIB_VERSION_MINOR}/" \
+		-e "s/PATCH .*/PATCH ${GEOGRAPHICLIB_VERSION_PATCH}/" \
+		$(top_srcdir)/include/GeographicLib/Config.h > \
+		$(distdir)/include/GeographicLib/Config.h
+# Custom rules
+
+all-local: man doc
+install-data-local: install-doc # install-matlab
+
+doc: man
+	$(MAKE) -C doc doc
+
+install-doc:
+	$(MAKE) -C doc install-doc
+
+man:
+	$(MAKE) -C man man
+
+# install-matlab:
+# 	$(MAKE) -C matlab install-matlab
+
+.PHONY: doc install-doc man install-matlab install-python
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/Makefile.mk

@@ -0,0 +1,51 @@
+MAKEFILE := $(lastword $(MAKEFILE_LIST))
+MAKE := $(MAKE) -f $(MAKEFILE)
+SUBDIRS = src man tools doc
+ALLDIRS = include $(SUBDIRS) maxima matlab python cmake
+
+all: src man tools
+
+$(SUBDIRS):
+	$(MAKE) -C $@
+
+tools: src
+install: install-headers install-lib install-tools install-man install-cmake \
+	install-doc install-matlab install-python
+clean: clean-src clean-tools clean-doc clean-man clean-matlab clean-python
+
+install-headers:
+	$(MAKE) -C include install
+install-lib:
+	$(MAKE) -C src install
+install-tools: src
+	$(MAKE) -C tools install
+install-cmake:
+	$(MAKE) -C cmake install
+install-doc: doc
+	$(MAKE) -C doc install
+install-man: man
+	$(MAKE) -C man install
+install-matlab: matlab
+	$(MAKE) -C matlab install
+install-python: python
+	$(MAKE) -C python install
+clean-src:
+	$(MAKE) -C src clean
+clean-tools:
+	$(MAKE) -C tools clean
+clean-doc:
+	$(MAKE) -C doc clean
+clean-man:
+	$(MAKE) -C man clean
+clean-matlab: matlab
+	$(MAKE) -C matlab clean
+clean-python: python
+	$(MAKE) -C python clean
+
+VERSION:=$(shell grep '\bVERSION=' configure | cut -f2 -d\' | head -1)
+
+.PHONY: all $(SUBDIRS) install \
+	install-headers install-lib install-tools install-cmake install-man \
+	install-matlab install-python \
+	clean clean-src clean-tools clean-doc clean-man clean-matlab \
+	clean-python

gtsam/3rdparty/GeographicLib/NEWS

@@ -0,0 +1,886 @@
+A reverse chronological list of changes to GeographicLib
+
+For more information, see
+
+    http://geographiclib.sourceforge.net/
+
+The current version of the library is 1.34.
+
+Changes between 1.34 (released 2013-12-11) and 1.33 versions:
+
+   * Many changes in cmake support:
+     + minimum version of cmake needed increased to 2.8.4 (which was
+       released in 2011-02);
+     + allow building both shared and static librarys with
+       -D GEOGRAPHICLIB_LIB_TYPE=BOTH;
+     + both shared and static libraries (Release plus Debug) included in
+       binary installer;
+     + find_package uses COMPONENTS and GeographicLib_USE_STATIC_LIBS to
+       select the library to use;
+     + find_package version checking allows nmake and Visual Studio
+       generators to interoperate on Windows;
+     + find_package (GeographicLib ...) requires that GeographicLib be
+       capitalized correctly;
+     + on Unix/Linux, don't include the version number in directory for
+       the cmake configuration files;
+     + defaults for GEOGRAPHICLIB_DOCUMENTATION and
+       BUILD_NETGEOGRAPHICLIB are now OFF;
+     + the GEOGRAPHICLIB_EXAMPLES configuration parameter is no longer
+       used; cmake always configures to build the examples, but they are
+       not built by default (instead build targets: exampleprograms and
+       netexamples);
+     + matlab-all target renamed to matlabinterface;
+     + the configuration parameters PACKAGE_PATH and INSTALL_PATH are
+       now deprecated (use CMAKE_INSTALL_PREFIX instead);
+     + on Linux, the installed package is relocatable;
+     + on MacOSX, the installed utilities can find the shared library.
+
+   * Use a more precise value for OSGB::CentralScale().
+
+   * Add Arc routines to python interface.
+
+   * The Geod utility has been removed; the same functionality lives on
+     with GeodSolve (introduced in version 1.30).
+
+Changes between 1.33 (released 2013-10-08) and 1.32 versions:
+
+   * Add NETGeographic .NET wrapper library (courtesy of Scott Heiman).
+
+   * Make inspector functions in GeographicLib::Ellipsoid const.
+
+   * Add Accumulator.cpp to instantiate GeographicLib::Accumulator.
+
+   * Defer some of the initialization of GeographicLib::OSGB to when it
+     is first called.
+
+   * Fix bug in autoconf builds under MacOS.
+
+Changes between 1.32 (released 2013-07-12) and 1.31 versions:
+
+   * Generalize C interface for polygon areas to allow vertices to be
+     specified incrementally.
+
+   * Fix way flags for C++11 support are determined.
+
+Changes between 1.31 (released 2013-07-01) and 1.30 versions:
+
+   * Changes breaking binary compatibility (source compatibility is
+     maintained):
+     + overloaded versions of DMS::Encode,
+       EllipticFunction::EllipticFunction, and
+       GeoCoords::DMSRepresentation, have been eliminated by the use of
+       optional arguments;
+     + correct the declaration of first arg to UTMUPS::DecodeEPSG.
+
+   * FIX BUG in GeographicLib::GravityCircle constructor (found by
+     Mathieu Peyréga) which caused bogus results for the gravity
+     disturbance and gravity anomaly vectors. (This only affected
+     calculations using GravityCircle. GravityModel calculations did not
+     suffer from this bug.)
+
+   * Improvements to the build:
+     + add macros GEOGRAPHICLIB_VERSION_{MAJOR,MINOR,PATCH} to Config.h;
+     + fix documentation for new version of perlpod;
+     + improving setting of runtime path for Unix-like systems with
+       cmake;
+     + install PDB files when compiling with Visual Studio to aid
+       debugging;
+     + Windows binary release now uses Matlab R2013a (64-bit) and uses
+       the -largeArrayDims option.
+
+   * Changes to the geodesic routines:
+     + add Java implementation of the geodesic routines (thanks to Skip
+       Breidbach for the maven support);
+     + FIX BUG: avoid altering input args in Fortran implementation;
+     + more systematic treatment of very short geodesic;
+     + fixes to python port so that they work with version 3.x, in
+       addition to 2.x (courtesy of Amato);
+     + accumulate the perimeter and area of polygons via a double-wide
+       accumulator in Fortran, C, and Matlab implementations (this is
+       already included in the other implementations);
+     + port PolygonArea::AddEdge and PolygonArea::TestEdge to JavaScript
+       and python interfaces;
+     + include documentation on short geodesics.
+
+   * Unix scripts for downloading datasets,
+     geographiclib-get-{geoids,gravity,magnetic}, skip already download
+     models by default, unless the -f flag is given.
+
+   * FIX BUGS: meridian convergence and scale returned by
+     TransverseMercatorExact was wrong at a pole.
+
+   * Improve efficiency of MGRS::Forward by avoiding the calculation of
+     the latitude if possible (adapting an idea of Craig Rollins).
+
+   * Fixes to the way the Matlab interface routines are built (thanks to
+     Phil Miller and Chris F.).
+
+Changes between 1.30 (released 2013-02-27) and 1.29 versions:
+
+   * Changes to geodesic routines:
+     + fix BUG in fail-safe mechanisms in Geodesic::Inverse;
+     + the command line utility Geod is now called GeodSolve;
+     + allow addition of polygon edges in PolygonArea;
+     + add full Maxima implementation of geodesic algorithms.
+
+Changes between 1.29 (released 2013-01-16) and 1.28 versions:
+
+   * Changes to allow compilation with libc++ (courtesy of Kal Conley).
+
+   * Add description of geodesics on triaxial ellipsoid to
+     documentation.
+
+   * Update journal reference for "Algorithms for geodesics".
+
+Changes between 1.28 (released 2012-12-11) and 1.27 versions:
+
+   * Changes to geodesic routines:
+     + compute longitude difference exactly;
+     + hence fix BUG in area calculations for polygons with vertices very
+       close to the prime meridian;
+     + fix BUG is geoddistance.m where the value of m12 was wrong for
+       meridional geodesics;
+     + add Matlab implementations of the geodesic projections;
+     + remove unneeded special code for geodesics which start at a pole;
+     + include polygon area routine in C and Fortran implementations;
+     + add doxygen documentation for C and Fortran libraries.
+
+Changes between 1.27 (released 2012-11-29) and 1.26 versions:
+
+   * Changes to geodesic routines:
+     + add native Matlab implementations: geoddistance.m, geodreckon.m,
+       geodarea.m;
+     + add C and Fortran implementations;
+     + improve the solution of the direct problem so that the series
+       solution is accurate to round off for |f| < 1/50;
+     + tighten up the convergence criteria for solution of the inverse
+       problem;
+     + no longer signal failures of convergence with NaNs (a slightly
+       less accurate answer is returned instead).
+
+   * Fix DMS::Decode double rounding BUG.
+
+   * On MacOSX platforms with the cmake configuration, universal
+     binaries are built.
+
+Changes between 1.26 (released 2012-10-22) and 1.25 versions:
+
+   * Replace the series used for geodesic areas by one with better
+     convergence (this only makes an appreciable difference if |f| >
+     1/150).
+
+Changes between 1.25 (released 2012-10-16) and 1.24 versions:
+
+   * Changes to geodesic calculations:
+     + restart Newton's method in Geodesic::Inverse when it goes awry;
+     + back up Newton's method with the bisection method;
+     + Geodesic::Inverse now converges for any value of f;
+     + add GeodesicExact and GeodesicLineExact which are formulated in
+       terms of elliptic integrals and thus yield accurate results
+       even for very eccentric ellipsoids.
+     + the -E option to Geod invokes these exact classes.
+
+   * Add functionality to EllipticFunction:
+     + add all the traditional elliptic integrals;
+     + remove restrictions on argument range for incomplete elliptic
+       integrals;
+     + allow imaginary modulus for elliptic integrals and elliptic
+       functions;
+     + make interface to the symmetric elliptic integrals public.
+
+   * Allow GeographicLib::Ellipsoid to be copied.
+
+   * Changes to the build tools:
+     + cmake uses folders in Visual Studio to reduce clutter;
+     + allow precision of reals to be set in cmake;
+     + fail gracefully in the absence of pod documentation tools;
+     + remove support for maintainer tasks in Makefile.mk.
+
+Changes between 1.24 (released 2012-09-22) and 1.23 versions:
+
+   * Allow the specification of the hemisphere in UTM coordinates in
+     order to provide continuity across the equator:
+     + add UTMUPS::Transfer;
+     + add GeoCoords::UTMUPSRepresentation(bool, int) and
+       GeoCoords::AltUTMUPSRepresentation(bool, int);
+     + use the hemisphere letter in, e.g., GeoConvert -u -z 31N.
+
+   * Add UTMUPS::DecodeEPSG and UTMUPS::EncodeEPSG.
+
+   * cmake changes:
+     + restore support for cmake 2.4.x;
+     + explicitly check version of doxygen.
+
+   * Fix building under cygwin.
+
+   * Document restrictions on f in the Introduction.
+
+   * Fix python interface to work with version 2.6.x.
+
+Changes between 1.23 (released 2012-07-17) and 1.22 versions:
+
+  * Documentation changes:
+    + remove html documentation from distribution and use web links if
+      doxygen is not available;
+    + use doxygen tags to document exceptions;
+    + begin migrating the documentation to using Greek letters where
+      appropriate (requires doxygen 1.8.1.2 or later).
+
+  * Add Math::AngNormalize and Math::AngNormalize2; the allowed range
+    for longitudes and azimuths widened to [-540d, 540d).
+
+  * DMS::Decode understands more unicode symbols.
+
+  * Geohash uses geohash code "nan" to stand for not a number.
+
+  * Add Ellipsoid::NormalCurvatureRadius.
+
+  * Various fixes in LambertConformalConic, TransverseMercator,
+    PolarStereographic, and Ellipsoid to handle reverse projections of
+    points near infinity.
+
+  * Fix programming blunder in LambertConformalConic::Forward (incorrect
+    results were returned if the tangent latitude was negative).
+
+Changes between 1.22 (released 2012-05-27) and 1.21 versions:
+
+  * Add Geohash and Ellipsoid classes.
+
+  * Fix bug in AlbersEqualArea of very prolate ellipsoids (b^2 > 2
+    a^2).
+
+  * cmake changes:
+    + optionally use PACKAGE_PATH and INSTALL_PATH to determine
+      CMAKE_INSTALL_PREFIX;
+    + use COMMON_INSTALL_PATH to determine layout of installation
+      directories;
+    + as a consequence, the installation paths for the documentation,
+      and python and matlab interfaces are shortened for Windows;
+    + zip source distribution now uses DOS line endings;
+    + the tests work in debug mode for Windows;
+    + default setting of GEOGRAPHICLIB_DATA does not depend on
+      CMAKE_INSTALL_PREFIX;
+    + add a cmake configuration for build tree.
+
+Changes between 1.21 (released 2012-04-25) and 1.20 versions:
+
+  * Support colon-separated DMS output:
+    + DMS::Encode and GeoCoords::DMSRepresentation generalized;
+    + GeoConvert and Geod now accept a -: option.
+
+  * GeoidEval does not print the gradient of the geoid height by default
+    (because it's subject to large errors); give the -g option to get
+    the gradient printed.
+
+  * Work around optimization BUG in GeographicLib::Geodesic::Inverse
+    with tdm mingw g++ version 4.6.1.
+
+  * autoconf fixed to ensure that that out-of-sources builds work;
+    document this as the preferred method of using autoconf.
+
+  * cmake tweaks:
+    + simplify the configuration of doxygen;
+    + allow the Matlab compiler to be specified with the MATLAB_COMPILER option.
+
+Changes between 1.20 (released 2012-03-23) and 1.19 versions:
+
+  * cmake tweaks:
+    + improve find_package's matching of compiler versions;
+    + CMAKE_INSTALL_PREFIX set from CMAKE_PREFIX_PATH if available;
+    + add "x64" to the package name for the 64-bit binary installer;
+    + fix cmake warning with Visual Studio Express.
+
+  * Fix SphericalEngine to deal with aggessive iterator checking by
+    Visual Studio.
+
+  * Fix transcription BUG is Geodesic.js.
+
+Changes between 1.19 (released 2012-03-13) and 1.18 versions:
+
+  * Slight improvement in Geodesic::Inverse for very short lines.
+
+  * Fix argument checking tests in MGRS::Forward.
+
+  * Add --comment-delimiter and --line-separator options to the utility
+    programs.
+
+  * Add installer for 64-bit Windows; the compiled Matlab interface is
+    supplied with the Windows 64-bit installer only.
+
+Changes between 1.18 (released 2012-02-18) and 1.17 versions:
+
+  * Improve documentation on configuration with cmake.
+
+  * cmake's find_package ensures that the compiler versions match on Windows.
+
+  * Improve documentation on compiling Matlab interface.
+
+  * Binary installer for Windows installs under C:/pkg-vc10 by default.
+
+Changes between 1.17 (released 2012-01-21) and 1.16 versions:
+
+  * Work around optimization BUG in Geodesic::Inverse with g++ version
+    4.4.0 (mingw).
+
+  * Fix BUG in argument checking with OSGB::GridReference.
+
+  * Fix missing include file in SphericalHarmonic2.
+
+  * Add simple examples of usage for each class.
+
+  * Add internal documenation to the cmake configuration files.
+
+Changes between 1.16 (released 2011-12-07) and 1.15 versions:
+
+  * Add calculation of the earth's gravitational field:
+    + add NormalGravity GravityModel and GravityCircle classes;
+    + add command line utility Gravity;
+    + add Gravity models;
+    + add Constants::WGS84_GM(), Constants::WGS84_omega(), and similarly
+      for GRS80.
+
+  * Build uses GEOGRAPHICLIB_DATA to specify a common parent directory
+    for geoid, gravity, and magnetic data (instead of
+    GEOGRAPHICLIB_GEOID_PATH, etc.); similarly, GeoidEval, Gravity, and
+    MagneticField, look at the environment variable GEOGRAPHICLIB_DATA
+    to locate the data.
+
+  * Spherical harmonic software changes:
+    + capitalize enums SphericalHarmonic::FULL and
+      SphericalHarmonic::SCHMIDT (the lower case names are retained but
+      deprecated);
+    + optimize the sum by using a static table of square roots which is
+      updated by SphericalEngine::RootTable;
+    + avoid overflow for high degree models.
+
+  * Magnetic software fixes:
+    + fix documentation BUG in MagneticModel::Circle;
+    + make MagneticModel constructor explicit;
+    + provide default MagneticCircle constructor;
+    + add additional inspector functions to MagneticCircle;
+    + add -c option to MagneticField;
+    + default height to zero in MagneticField.
+
+Changes between 1.15 (released 2011-11-08) and 1.14 versions:
+
+  * Add calculation of the earth's magnetic field:
+    + add MagneticModel and MagneticCircle classes;
+    + add command line utility MagneticField;
+    + add Magnetic models;
+    + add Installing the magnetic field models;
+    + add The format of the magnetic model files;
+    + add classes SphericalEngine, CircularEngine, SphericalHarmonic,
+      SphericalHarmonic1, and SphericalHarmonic2. which sum spherical
+      harmonic series.
+
+  * Add Utility class to support I/O and date manipulation.
+
+  * Cmake configuration includes a _d suffix on the library built in
+    debug mode.
+
+  * For the Python package, include manifest and readme files; don't
+    install setup.py for non-Windows systems.
+
+  * Include Doxygen tag file in distribution as doc/html/Geographic.tag.
+
+Changes between 1.14 (released 2011-09-30) and 1.13 versions:
+
+  * Ensure that geographiclib-config.cmake is relocatable.
+
+  * Allow more unicode symbols to be used in DMS::Decode.
+
+  * Modify GeoidEval so that it can be used to convert the height datum
+    for LIDAR data.
+
+  * Modest speed-up of Geodesic::Inverse.
+
+  * Changes in python interface:
+    + FIX BUG in transcription of Geodesic::Inverse;
+    + include setup.py for easy installation;
+    + python only distribution is available at
+      http://pypi.python.org/pypi/geographiclib
+
+  * Supply a minimal Qt qmake project file for library
+    src/Geographic.pro.
+
+Changes between 1.13 (released 2011-08-13) and 1.12 versions:
+
+  * Changes to I/O:
+    + allow : (colon) to be used as a DMS separator in DMS::Decode;
+    + also accept Unicode symbols for degrees, minutes, and seconds
+      (coded as UTF-8);
+    + provide optional swaplatlong argument to various DMS and GeoCoords
+      functions to make longitude precede latitude;
+    + GeoConvert now has a -w option to make longitude precede latitude
+      on input and output;
+    + include a JavaScript version of DMS.
+
+  * Slight improvement in starting guess for solution of geographic
+    latitude in terms of conformal latitude in TransverseMercator,
+    TransverseMercatorExact, and LambertConformalConic.
+
+  * For most classes, get rid of const member variables so that the
+    default copy assignment works.
+
+  * Put Math and Accumulator in their own header files.
+
+  * Remove unused "fast" GeographicLib::Accumulator method.
+
+  * Reorganize the Python interface.
+
+  * Withdraw some deprecated routines.
+
+  * cmake changes:
+    + include FindGeographic.cmake in distribution;
+    + building with cmake creates and installs
+      geographiclib-config.cmake;
+    + better support for building a shared library under Windows.
+
+Changes between 1.12 (released 2011-07-21) and 1.11 versions:
+
+  * Change license to MIT/X11.
+
+  * Add GeographicLib::PolygonArea class and equivalent Matlab function.
+
+  * Provide JavaScript and Python implementations of geodesic routines.
+
+  * Fix Windows installer to include runtime dlls for Matlab.
+
+  * Fix (innocuous) unassigned variable in Geodesic::GenInverse.
+
+  * Geodesic routines in Matlab return a12 as first column of aux return
+    value (incompatible change).
+
+  * A couple of code changes to enable compilation with Visual Studio
+    2003.
+
+Changes between 1.11 (released 2011-06-27) and 1.10 versions:
+
+  * Changes to Planimeter:
+    + add -l flag to Planimeter for polyline calculations;
+    + trim precision of area to 3 decimal places;
+    + FIX BUG with pole crossing edges (due to compiler optimization).
+
+  * Geod no longer reports the reduced length by default; however the -f
+    flag still reports this and in addition gives the geodesic scales
+    and the geodesic area.
+
+  * FIX BUGS (compiler-specific) in inverse geodesic calculations.
+
+  * FIX BUG: accommodate tellg() returning -1 at end of string.
+
+  * Change way flattening of the ellipsoid is specified:
+    + constructors take f argument which is taken to be the flattening
+      if f < 1 and the inverse flattening otherwise (this is a
+      compatible change for spheres and oblate ellipsoids, but it is an
+      INCOMPATIBLE change for prolate ellipsoids);
+    + the -e arguments to the Utility Programs are handled similarly; in
+      addition, simple fractions, e.g., 1/297, can be used for the
+      flattening;
+    + introduce Constants::WGS84_f() for the WGS84 flattening (and
+      deprecate Constants::WGS84_r() for the inverse flattening);
+    + most classes have a Flattening() member function;
+    + InverseFlattening() has been deprecated (and now returns inf for a
+      sphere, instead of 0).
+
+Changes between 1.10 (released 2011-06-11) and 1.9 versions:
+
+  * Improvements to Matlab/Octave interface:
+     + add {geocentric,localcartesian}{forward,reverse};
+     + make geographiclibinterface more general;
+     + install the source for the interface;
+     + cmake compiles the interface if ENABLE_MATLAB=ON;
+     + include compiled interface with Windows binary installer.
+
+  * Fix various configuration issues
+     + autoconf did not install Config.h;
+     + cmake installed in man/man1 instead of share/man/man1;
+     + cmake did not set the rpath on the tools.
+
+Changes between 1.9 (released 2011-05-28) and 1.8 versions:
+
+  * FIX BUG in area returned by Planimeter for pole encircling polygons.
+
+  * FIX BUG in error message reported when DMS::Decode reads the string
+    "5d.".
+
+  * FIX BUG in AlbersEqualArea::Reverse (lon0 not being used).
+
+  * Ensure that all exceptions thrown in the Utility Programs are
+    caught.
+
+  * Avoid using catch within GeographicLib::DMS.
+
+  * Move Accumulator class from Planimeter.cpp to Constants.hpp.
+
+  * Add Math::sq<T>.
+
+  * Simplify Installing the geoid datasets
+    + add geographiclib-get-geoids for Unix-like systems;
+    + add installers for Windows.
+
+  * Provide cmake support:
+    + build binary installer for Windows;
+    + include regression tests;
+    + add --input-string, --input-file, --output-file options to the
+      Utility Programs to support tests.
+
+  * Rename utility EquidistantTest as GeodesicProj and
+    TransverseMercatorTest as TransverseMercatorProj.
+
+  * Add ConicProj.
+
+  * Reverse the initial sense of the -s option for Planimeter.
+
+  * Migrate source from subversion to git.
+
+Changes between 1.8 (released 2011-02-22) and 1.7 versions:
+
+  * Optionally return rotation matrix from GeographicLib::Geocentric and
+    GeographicLib::LocalCartesian.
+
+  * For the Utility Programs, supply man pages, -h prints the synopsis,
+    --help prints the man page, --version prints the version.
+
+  * Use accurate summation in Planimeter.
+
+  * Add 64-bit targets for Visual Studio 2010.
+
+  * Use templates for defining math functions and some constants.
+
+  * GeographicLib::Geoid updates
+    + Add GeographicLib::Geoid::DefaultGeoidPath and
+      GeographicLib::Geoid::DefaultGeoidName;
+    + GeoidEval uses environment variable GEOID_NAME as the default
+      geoid;
+    + Add --msltohae and --haetomsl as GeoidEval options (and don't
+      document the single hyphen versions).
+
+  * Remove documentation that duplicates papers on transverse Mercator
+    and geodesics.
+
+Changes between 1.7 (released 2010-12-21) and 1.6 versions:
+
+  * FIX BUG in scale returned by GeographicLib::LambertConformalConic::Reverse.
+
+  * Add GeographicLib::AlbersEqualArea projection.
+
+  * Library created by Visual Studio is Geographic.lib instead of
+    GeographicLib.lib (compatible with makefiles).
+
+  * Make classes NaN aware.
+
+  * Use cell arrays for MGRS strings in Matlab.
+
+  * Add solution/project files for Visual Studio 2010 (32-bit only).
+
+  * Use C++11 static_assert and math functions, if available.
+
+Change between 1.6 (released 2010-11-23) and 1.5 versions:
+
+  * FIX BUG introduced in GeographicLib::Geoid in version 1.5 (found by
+    Dave Edwards).
+
+Changes between 1.5 (released 2010-11-19) and 1.4 versions:
+
+  * Improve area calculations for small polygons.
+
+  * Add -s and -r flags to Planimeter utility.
+
+  * Improve the accuracy of GeographicLib::LambertConformalConic using
+    divided differences.
+
+  * FIX BUG in meridian convergence returned by
+    LambertConformalConic::Forward.
+
+  * Add optional threadsafe parameter to GeographicLib::Geoid
+    constructor.  WARNING: This changes may break binary compatibility
+    with previous versions of GeographicLib.  However, the library is
+    source compatible.
+
+  * Add GeographicLib::OSGB.
+
+  * Matlab and Octave interfaces to GeographicLib::UTMUPS,
+    GeographicLib::MGRS, GeographicLib::Geoid, GeographicLib::Geodesic
+    provided.
+
+  * Minor changes
+    + explicitly turn on optimization in Visual Studio 2008 projects;
+    + add missing dependencies in some Makefiles;
+    + move pi() and degree() from GeographicLib::Constants to
+      GeographicLib::Math;
+    + introduce GeographicLib::Math::extended type to aid testing;
+    + add GeographicLib::Math::epi() and GeographicLib::Math::edegree().
+    + fixes to compile under cygwin;
+    + tweak expression used to find latitude from conformal latitude.
+
+Changes between 1.4 (released 2010-09-12) and 1.3 versions:
+
+  * Changes to GeographicLib::Geodesic and GeographicLib::GeodesicLine:
+    + FIX BUG in Geodesic::Inverse with prolate ellipsoids;
+    + add area computations to Geodesic::Direct and Geodesic::Inverse;
+    + add geodesic areas to geodesic test set;
+    + make GeodesicLine constructor public;
+    + change longitude series in Geodesic into Helmert-like form;
+    + ensure that equatorial geodesics have cos(alpha0) = 0 identically;
+    + generalize interface for Geodesic and GeodesicLine;
+    + split GeodesicLine and Geodesic into different files;
+    + signal convergence failure in Geodesic::Inverse with NaNs;
+    + deprecate one function in Geodesic and two functions in
+      GeodesicLine;
+    + deprecate -n option for Geod.
+    WARNING: These changes may break binary compatibility with previous
+    versions of GeographicLib.  However, the library is source
+    compatible (with the proviso that GeographicLib/GeodesicLine.hpp may
+    now need to be included).
+
+  * Add the Planimeter utility for computing the areas of
+    geodesic polygons.
+
+  * Improve iterative solution of GeographicLib::Gnomonic::Reverse.
+
+  * Add GeographicLib::Geoid::ConvertHeight.
+
+  * Add -msltohae, -haetomsl, and -z options to \ref geoideval.
+
+  * Constructors check that minor radius is positive.
+
+  * Add overloaded Forward and Reverse functions to the projection
+    classes which don't return the convergence (or azimuth) and scale.
+
+  * Document function parameters and return values consistently.
+
+Changes between 1.3 (released 2010-07-21) and 1.2 versions:
+
+  * Add GeographicLib::Gnomonic, the ellipsoid generalization of the
+    gnomonic projection.
+
+  * Add -g and -e options to Equidistanttest.
+
+  * Use fixed-point notation for output from Cartconvert,
+    Equidistanttest, Transversemercatortest.
+
+  * PolarStereographic:
+    + Improved conversion to conformal coordinates;
+    + Fix bug with scale at opposite pole;
+    + Complain if latitude out of range in SetScale.
+
+  * Add GeographicLib::Math::NaN().
+
+  * Add long double version of hypot for Windows.
+
+  * Add EllipticFunction::E(real).
+
+  * Update references to Geotrans in MGRS documentation.
+
+  * Speed up tmseries.mac.
+
+Changes between 1.2 (released 2010-05-21) and 1.1 versions:
+
+  * FIX BUGS in GeographicLib::Geodesic,
+    + wrong azimuth returned by Direct if point 2 is on a pole;
+    + Inverse sometimes fails with very close points.
+
+  * Improve calculation of scale in GeographicLib::CassiniSoldner,
+    + add GeodesicLine::Scale, GeodesicLine::EquatorialAzimuth, and
+      GeodesicLine::EquatorialArc;
+    + break friend connection between CassiniSoldner and Geodesic.
+
+  * Add DMS::DecodeAngle and DMS::DecodeAzimuth. Extend DMS::Decode and
+    DMS::Encode to deal with distances.
+
+  * Code and documentation changes in Geodesic and Geocentric for
+    consistency with the forthcoming paper on geodesics.
+
+  * Increase order of series using in Geodesic to 6 (full accuracy
+    maintained for ellipsoid flattening < 0.01).
+
+  * Macro __NO_LONG_DOUBLE_MATH to disable use of long double.
+
+  * Correct declaration of Math::isfinite to return a bool.
+
+  * Changes in the Utility Programs,
+    + improve error reporting when parsing command line arguments;
+    + accept latitudes and longitudes in decimal degrees or degrees,
+      minutes, and seconds, with optional hemisphere designators;
+    + GeoConvert -z accepts zone or zone+hemisphere;
+    + GeoidEval accepts any of the input formats used by GeoConvert;
+    + CartConvert allows the ellipsoid to be specified with -e.
+
+Changes between 1.1 (released 2010-02-09) and 1.0 versions:
+
+  * FIX BUG (introduced in 2009-03) in EllipticFunction::E(sn,cn,dn).
+
+  * Increase accuracy of scale calculation in TransverseMercator and
+    TransverseMercatorExact.
+
+  * Code and documentation changes for consistency with arXiv:1002.1417
+
+Changes between 1.0 (released 2010-01-07) and 2009-11 versions:
+
+  * Add autoconf configuration files.
+
+  * BUG FIX: Improve initial guess for Newton's method in
+    PolarStereographic::Reverse.  (Previously this failed to converge
+    when the co-latitude exceeded about 130 deg.)
+
+  * Constructors for TransverseMercator, TransverseMercatorExact,
+    PolarStereographic, Geocentric, and Geodesic now check for obvious
+    problems with their arguments and throw an exception if necessary.
+
+  * Most classes now include inspector functions such as MajorRadius()
+    so that you can determine how instances were constructed.
+
+  * Add GeographicLib::LambertConformalConic class.
+
+  * Add GeographicLib::PolarStereographic::SetScale to allow the
+    latitude of true scale to be specified.
+
+  * Add solution and project files for Visual Studio 2008.
+
+  * Add GeographicLib::GeographicErr for exceptions.
+
+  * GeographicLib::Geoid changes:
+    + BUG FIX: fix typo in GeographicLib::Geoid::Cache which could cause
+      a segmentation fault in some cases when the cached area spanned
+      the prime meridian.
+    + Include sufficient edge data to allow heights to be returned for
+      cached area without disk reads;
+    + Add inspector functions to query the extent of the cache.
+
+Changes between 2009-11 and 2009-10 versions:
+
+  * Allow specification of "closest UTM zone" in GeographicLib::UTMUPS
+    and GeoConvert (via -t option).
+
+  * Utilities now complain is there are too many tokens on input lines.
+
+  * Include real-to-real versions of GeographicLib::DMS::Decode and
+    GeographicLib::DMS::Encode.
+
+  * More house-cleaning changes:
+    + Ensure that functions which return results through reference
+      arguments do not alter the arguments when an exception is thrown.
+    + Improve accuracy of GeographicLib::MGRS::Forward.
+    + Include more information in some error messages.
+    + Improve accuracy of inverse hyperbolic functions.
+    + Fix the way GeographicLib::Math functions handle different
+      precisions.
+
+Changes between 2009-10 and 2009-09 versions:
+
+  * Change web site to http://geographiclib.sourceforge.net
+
+  * Several house-cleaning changes:
+    + Change from the a flat directory structure to a more easily
+      maintained one.
+    + Introduce Math class for common mathematical functions (in
+      Constants.hpp).
+    + Use Math::real as the type for all real quantities.  By default this
+      is typedef'ed to double; and the library should be installed this
+      way.
+    + Eliminate const reference members of AzimuthalEquidistant,
+      CassiniSoldner and LocalCartesian so that they may be copied.
+    + Make several constructors explicit.  Disallow some constructors.
+      Disallow copy constructor/assignment for Geoid.
+    + Document least square formulas in Geoid.cpp.
+    + Use unsigned long long for files positions of geoid files in Geoid.
+    + Introduce optional mgrslimits argument in UTMUPS::Forward and
+      UTMUPS::Reverse to enforce stricter MGRS limits on eastings and
+      northings.in
+    + Add 64-bit targets in Visual Studio project files.
+
+Changes between 2009-09 and 2009-08 versions:
+
+  * Add GeographicLib::Geoid and GeoidEval utility.
+
+Changes between 2009-08 and 2009-07 versions:
+
+  * Add GeographicLib::CassiniSoldner class and EquidistantTest utility.
+
+  * Fix bug in GeographicLib::Geodesic::Inverse where NaNs were
+    sometimes returned.
+
+  * INCOMPATIBLE CHANGE: AzimuthalEquidistant now returns the reciprocal
+    of the azimuthal scale instead of the reduced length.
+
+  * Add -n option to GeoConvert.
+
+Changes between 2009-07 and 2009-06 versions:
+
+  * Speed up the series inversion code in tmseries.mac and geod.mac.
+
+  * Reference Borkowski in section on Geocentric coordinates.
+
+Changes between 2009-06 and 2009-05 versions:
+
+  * Add routines to decode and encode zone+hemisphere to GeographicLib::UTMUPS.
+
+  * Clean up code in GeographicLib::Geodesic.
+
+Changes between 2009-05 and 2009-04 versions:
+
+  * Improvements to GeographicLib::Geodesic:
+    + more economical series expansions,
+    + return reduced length (as does the Geod utility),
+    + improved calculation of starting point for inverse method,
+    + use reduced length to give derivative for Newton's method.
+
+  * Add AzimuthalEquidistant class.
+
+  + Make GeographicLib::Geocentric, GeographicLib::TransverseMercator,
+    and GeographicLib::PolarStereographic classes work with prolate
+    ellipsoids.
+
+  * CartConvert checks its inputs more carefully.
+
+  * Remove reference to defunct Constants.cpp from GeographicLib.vcproj.
+
+Changes between 2009-04 and 2009-03 versions:
+
+  * Use compile-time constants to select the order of series in
+    GeographicLib::TransverseMercator.
+
+  * 2x unroll of Clenshaw summation to avoid data shuffling.
+
+  * Simplification of GeographicLib::EllipticFunction::E.
+
+  * Use STATIC_ASSERT for compile-time checking of constants.
+
+  * Improvements to GeographicLib::Geodesic:
+    + compile-time option to change order of series used,
+    + post maxima code for generating the series,
+    + tune the order of series for double,
+    + improvements in the selection of starting points for Newton's
+      method,
+    + accept and return spherical arc lengths,
+    + works with both oblate and prolate spheroids,
+    + add -a, -e, -b options to the Geod utility.
+
+Changes between 2009-03 and 2009-02 versions:
+
+  * Add GeographicLib::Geodesic and the Geod utility.
+
+  * Declare when no exceptions are thrown by functions.
+
+  * Minor changes to GeographicLib::DMS class.
+
+  * Use invf = 0 to mean a sphere in constructors to some classes.
+
+  * The makefile creates a library and includes an install target.
+
+  * Rename GeographicLib::ECEF to GeographicLib::Geocentric, ECEFConvert
+    to CartConvert.
+
+  * Use inline functions to define constant doubles in Constants.hpp.
+
+Changes between 2009-02 and 2009-01 versions:
+
+  * Fix documentation of constructors (flattening -> inverse
+    flattening).
+
+  * Use std versions of math functions.
+
+  * Add ECEF and LocalCartesian classes and ECEFConvert utility.
+
+  * Gather the documentation on the utility programs onto one page.

gtsam/3rdparty/GeographicLib/cmake/CMakeLists.txt

@@ -0,0 +1,52 @@
+# config file support for find_package (GeographicLib).  This needs to
+# deal with two environments: (1) finding the build tree and (2)
+# finding the install tree.  geographiclib-config.cmake detects which
+# situation it is handing by looking at @PROJECT_ROOT_DIR@.  If
+# this is an absolute path, it's in the build tree; otherwise, it's in the
+# install tree.  (Note that the whole install tree can be relocated.)
+
+# geographiclib-config.cmake for the build tree
+set (PROJECT_ROOT_DIR "${PROJECT_BINARY_DIR}")
+set (PROJECT_INCLUDE_DIRS
+  "${PROJECT_BINARY_DIR}/include" "${PROJECT_SOURCE_DIR}/include" )
+configure_file (project-config.cmake.in
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake" @ONLY)
+configure_file (project-config-version.cmake.in
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake" @ONLY)
+export (TARGETS ${PROJECT_SHARED_LIBRARIES} ${PROJECT_STATIC_LIBRARIES} ${TOOLS}
+  FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-depends.cmake")
+
+# geographiclib-config.cmake for the install tree.  It's installed in
+# ${INSTALL_CMAKE_DIR} and @PROJECT_ROOT_DIR@ is the relative
+# path to the root from there.  (Note that the whole install tree can
+# be relocated.)
+if (COMMON_INSTALL_PATH)
+  set (INSTALL_CMAKE_DIR "share/cmake/${PROJECT_NAME}")
+  set (PROJECT_ROOT_DIR "../../..")
+else ()
+  set (INSTALL_CMAKE_DIR "cmake")
+  set (PROJECT_ROOT_DIR "..")
+endif ()
+# @PROJECT_INCLUDE_DIRS@ is not used in the install tree; reset
+# it to prevent the source and build paths appearing in the installed
+# config files
+set (PROJECT_INCLUDE_DIRS)
+configure_file (project-config.cmake.in
+  ${PROJECT_NAME_LOWER}-config.cmake @ONLY)
+configure_file (project-config-version.cmake.in
+  ${PROJECT_NAME_LOWER}-config-version.cmake @ONLY)
+install (FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}")
+# Make information about the cmake targets (the library and the tools)
+# available.
+install (EXPORT depends
+  FILE ${PROJECT_NAME_LOWER}-depends.cmake
+  DESTINATION "${INSTALL_CMAKE_DIR}")
+
+if (MSVC AND PACKAGE_DEBUG_LIBS)
+  install (FILES
+    "${PROJECT_BINARY_DIR}/cmake/CMakeFiles/Export/cmake/${PROJECT_NAME_LOWER}-depends-debug.cmake"
+    DESTINATION "${INSTALL_CMAKE_DIR}" CONFIGURATIONS Release)
+endif ()

gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake

@@ -0,0 +1,31 @@
+# Look for GeographicLib
+#
+# Set
+#  GEOGRAPHICLIB_FOUND = TRUE
+#  GeographicLib_INCLUDE_DIRS = /usr/local/include
+#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
+#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
+
+find_library (GeographicLib_LIBRARIES Geographic
+  PATHS "${CMAKE_INSTALL_PREFIX}/../GeographicLib/lib")
+
+if (GeographicLib_LIBRARIES)
+  get_filename_component (GeographicLib_LIBRARY_DIRS
+    "${GeographicLib_LIBRARIES}" PATH)
+  get_filename_component (_ROOT_DIR "${GeographicLib_LIBRARY_DIRS}" PATH)
+  set (GeographicLib_INCLUDE_DIRS "${_ROOT_DIR}/include")
+  set (GeographicLib_BINARY_DIRS "${_ROOT_DIR}/bin")
+  unset (_ROOT_DIR)
+  if (NOT EXISTS "${GeographicLib_INCLUDE_DIRS}/GeographicLib/Config.h")
+    unset (GeographicLib_INCLUDE_DIRS)
+    unset (GeographicLib_LIBRARIES)
+    unset (GeographicLib_LIBRARY_DIRS)
+    unset (GeographicLib_BINARY_DIRS)
+  endif ()
+endif ()
+
+include (FindPackageHandleStandardArgs)
+find_package_handle_standard_args (GeographicLib DEFAULT_MSG
+  GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
+mark_as_advanced (GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES
+  GeographicLib_INCLUDE_DIRS)

gtsam/3rdparty/GeographicLib/cmake/Makefile.am

@@ -0,0 +1,14 @@
+#
+# Makefile.am
+#
+# Copyright (C) 2011, Charles Karney <charles@karney.com>
+
+cmakedir=$(datadir)/cmake/GeographicLib
+
+install:
+	$(INSTALL) -d $(DESTDIR)$(cmakedir)
+	$(INSTALL) -m 644 $(srcdir)/FindGeographicLib.cmake \
+		$(DESTDIR)$(cmakedir)
+
+EXTRA_DIST = Makefile.mk CMakeLists.txt FindGeographicLib.cmake \
+	project-config-version.cmake.in project-config.cmake.in

gtsam/3rdparty/GeographicLib/cmake/Makefile.in

@@ -0,0 +1,415 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+#
+# Makefile.am
+#
+# Copyright (C) 2011, Charles Karney <charles@karney.com>
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = cmake
+DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+cmakedir = $(datadir)/cmake/GeographicLib
+EXTRA_DIST = Makefile.mk CMakeLists.txt FindGeographicLib.cmake \
+	project-config-version.cmake.in project-config.cmake.in
+
+all: all-am
+
+.SUFFIXES:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu cmake/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --gnu cmake/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+tags: TAGS
+TAGS:
+
+ctags: CTAGS
+CTAGS:
+
+cscope cscopelist:
+
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile
+installdirs:
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-am
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: all all-am check check-am clean clean-generic clean-libtool \
+	distclean distclean-generic distclean-libtool distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-generic \
+	mostlyclean-libtool pdf pdf-am ps ps-am uninstall uninstall-am
+
+
+install:
+	$(INSTALL) -d $(DESTDIR)$(cmakedir)
+	$(INSTALL) -m 644 $(srcdir)/FindGeographicLib.cmake \
+		$(DESTDIR)$(cmakedir)
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/cmake/Makefile.mk

@@ -0,0 +1,13 @@
+DEST = $(PREFIX)/share/cmake/GeographicLib
+
+INSTALL=install -b
+
+all:
+	@:
+install:
+	test -d $(DEST) || mkdir -p $(DEST)
+	$(INSTALL) -m 644 FindGeographicLib.cmake $(DEST)
+clean:
+	@:
+
+.PHONY: all install clean

gtsam/3rdparty/GeographicLib/cmake/project-config-version.cmake.in

@@ -0,0 +1,54 @@
+# Version checking for @PROJECT_NAME@
+
+set (PACKAGE_VERSION "@PROJECT_VERSION@")
+set (PACKAGE_VERSION_MAJOR "@PROJECT_VERSION_MAJOR@")
+set (PACKAGE_VERSION_MINOR "@PROJECT_VERSION_MINOR@")
+set (PACKAGE_VERSION_PATCH "@PROJECT_VERSION_PATCH@")
+
+if (NOT PACKAGE_FIND_NAME STREQUAL "@PROJECT_NAME@")
+  # Check package name (in particular, because of the way cmake finds
+  # package config files, the capitalization could easily be "wrong").
+  # This is necessary to ensure that the automatically generated
+  # variables, e.g., <package>_FOUND, are consistently spelled.  Make
+  # this a WARNING, because this is a user error that needs to be fixed.
+  message (WARNING
+    "Mismatched package names: use find_package(@PROJECT_NAME@ ...) instead"
+    " of find_package(${PACKAGE_FIND_NAME} ...)")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (NOT (APPLE OR CMAKE_SIZEOF_VOID_P EQUAL @CMAKE_SIZEOF_VOID_P@))
+  # Reject if there's a 32-bit/64-bit mismatch (not necessary with Apple
+  # since a multi-architecture library is built for that platform).
+  message (STATUS
+    "${CMAKE_CURRENT_LIST_FILE} unsuitable because package built with "
+    "sizeof(*void) =  @CMAKE_SIZEOF_VOID_P@")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (MSVC AND NOT MSVC_VERSION STREQUAL "@MSVC_VERSION@")
+  # Reject if there's a mismatch in MSVC compiler versions
+  message (STATUS
+    "${CMAKE_CURRENT_LIST_FILE} unsuitable because package built with "
+    "_MSC_VER = @MSVC_VERSION@")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (PACKAGE_FIND_VERSION)
+  if (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION)
+    set (PACKAGE_VERSION_EXACT TRUE)
+  elseif (PACKAGE_FIND_VERSION VERSION_LESS PACKAGE_VERSION
+    AND PACKAGE_FIND_VERSION_MAJOR EQUAL PACKAGE_VERSION_MAJOR)
+    set (PACKAGE_VERSION_COMPATIBLE TRUE)
+  endif ()
+endif ()
+
+set (@PROJECT_NAME@_SHARED_FOUND @GEOGRAPHICLIB_SHARED_LIB@)
+set (@PROJECT_NAME@_STATIC_FOUND @GEOGRAPHICLIB_STATIC_LIB@)
+set (@PROJECT_NAME@_NETGeographicLib_FOUND @BUILD_NETGEOGRAPHICLIB@)
+
+# Check for the components requested.  The convention is that
+# GeographicLib_${comp}_FOUND should be true for all the required
+# components.
+if (@PROJECT_NAME@_FIND_COMPONENTS)
+  foreach (comp ${@PROJECT_NAME@_FIND_COMPONENTS})
+    if (@PROJECT_NAME@_FIND_REQUIRED_${comp} AND
+        NOT @PROJECT_NAME@_${comp}_FOUND)
+      set (PACKAGE_VERSION_UNSUITABLE TRUE)
+    endif ()
+  endforeach ()
+endif ()

gtsam/3rdparty/GeographicLib/cmake/project-config.cmake.in

@@ -0,0 +1,82 @@
+# Configure @PROJECT_NAME@
+#
+# Set
+#  @PROJECT_NAME@_FOUND = @PROJECT_NAME_UPPER@_FOUND = 1
+#  @PROJECT_NAME@_INCLUDE_DIRS = /usr/local/include
+#  @PROJECT_NAME@_SHARED_LIBRARIES = GeographicLib        (or empty)
+#  @PROJECT_NAME@_STATIC_LIBRARIES = GeographicLib_STATIC (or empty)
+#  @PROJECT_NAME@_SHARED_DEFINITIONS = GEOGRAPHICLIB_SHARED_LIB=1
+#  @PROJECT_NAME@_STATIC_DEFINITIONS = GEOGRAPHICLIB_SHARED_LIB=0
+#  @PROJECT_NAME@_LIBRARY_DIRS = /usr/local/lib
+#  @PROJECT_NAME@_BINARY_DIRS = /usr/local/bin
+#  @PROJECT_NAME@_VERSION = 1.9 (for example)
+#  Depending on @PROJECT_NAME@_USE_STATIC_LIBS
+#    @PROJECT_NAME@_LIBRARIES = ${@PROJECT_NAME@_SHARED_LIBRARIES}, if OFF
+#    @PROJECT_NAME@_LIBRARIES = ${@PROJECT_NAME@_STATIC_LIBRARIES}, if ON
+#    @PROJECT_NAME@_DEFINITIONS = ${@PROJECT_NAME@_SHARED_DEFINITIONS}, if OFF
+#    @PROJECT_NAME@_DEFINITIONS = ${@PROJECT_NAME@_STATIC_DEFINITIONS}, if ON
+#  If only one of the libraries is provided, then
+#    @PROJECT_NAME@_USE_STATIC_LIBS is ignored.
+
+message (STATUS "Reading ${CMAKE_CURRENT_LIST_FILE}")
+set (@PROJECT_NAME@_VERSION "@PROJECT_VERSION@")
+message (STATUS
+  "@PROJECT_NAME@ configuration, version ${@PROJECT_NAME@_VERSION}")
+
+# Tell the user project where to find our headers and libraries
+get_filename_component (_DIR ${CMAKE_CURRENT_LIST_FILE} PATH)
+if (IS_ABSOLUTE "@PROJECT_ROOT_DIR@")
+  # This is an uninstalled package (still in the build tree)
+  set (_ROOT "@PROJECT_ROOT_DIR@")
+  set (@PROJECT_NAME@_INCLUDE_DIRS "@PROJECT_INCLUDE_DIRS@")
+  set (@PROJECT_NAME@_LIBRARY_DIRS "${_ROOT}/src")
+  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/src")
+else ()
+  # This is an installed package; figure out the paths relative to the
+  # current directory.
+  get_filename_component (_ROOT "${_DIR}/@PROJECT_ROOT_DIR@" ABSOLUTE)
+  set (@PROJECT_NAME@_INCLUDE_DIRS "${_ROOT}/include")
+  set (@PROJECT_NAME@_LIBRARY_DIRS "${_ROOT}/lib")
+  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/bin")
+endif ()
+message (STATUS "  include directory: \${@PROJECT_NAME@_INCLUDE_DIRS}")
+
+set (@PROJECT_NAME@_SHARED_LIBRARIES @PROJECT_SHARED_LIBRARIES@)
+set (@PROJECT_NAME@_STATIC_LIBRARIES @PROJECT_STATIC_LIBRARIES@)
+set (@PROJECT_NAME@_SHARED_DEFINITIONS @PROJECT_SHARED_DEFINITIONS@)
+set (@PROJECT_NAME@_STATIC_DEFINITIONS @PROJECT_STATIC_DEFINITIONS@)
+# Read in the exported definition of the library
+include ("${_DIR}/@PROJECT_NAME_LOWER@-depends.cmake")
+
+if ((NOT @PROJECT_NAME@_SHARED_LIBRARIES) OR
+    (@PROJECT_NAME@_USE_STATIC_LIBS AND @PROJECT_NAME@_STATIC_LIBRARIES))
+  set (@PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_STATIC_LIBRARIES})
+  set (@PROJECT_NAME@_DEFINITIONS ${@PROJECT_NAME@_STATIC_DEFINITIONS})
+  message (STATUS "  \${@PROJECT_NAME@_LIBRARIES} set to static library")
+else ()
+  set (@PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_SHARED_LIBRARIES})
+  set (@PROJECT_NAME@_DEFINITIONS ${@PROJECT_NAME@_SHARED_DEFINITIONS})
+  message (STATUS "  \${@PROJECT_NAME@_LIBRARIES} set to shared library")
+endif ()
+
+set (@PROJECT_NAME@_NETGeographicLib_LIBRARIES @NETGEOGRAPHICLIB_LIBRARIES@)
+
+# Check for the components requested.  This only supports components
+# STATIC, SHARED, and NETGeographicLib by checking the value of
+# @PROJECT_NAME@_${comp}_LIBRARIES.  No need to check if the component
+# is required or not--the version file took care of that.
+# @PROJECT_NAME@_${comp}_FOUND is set appropriately for each component.
+if (@PROJECT_NAME@_FIND_COMPONENTS)
+  foreach (comp ${@PROJECT_NAME@_FIND_COMPONENTS})
+    if (@PROJECT_NAME@_${comp}_LIBRARIES)
+      set (@PROJECT_NAME@_${comp}_FOUND 1)
+      message (STATUS "@PROJECT_NAME@ component ${comp} found")
+    else ()
+      set (@PROJECT_NAME@_${comp}_FOUND 0)
+      message (WARNING "@PROJECT_NAME@ component ${comp} not found")
+    endif ()
+  endforeach ()
+endif ()
+
+# @PROJECT_NAME@_FOUND is set to 1 automatically
+set (@PROJECT_NAME_UPPER@_FOUND 1)     # for backwards compatibility

gtsam/3rdparty/GeographicLib/configure.ac

@@ -0,0 +1,96 @@
+dnl
+dnl Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+
+AC_INIT([GeographicLib],[1.34],[charles@karney.com])
+AC_CANONICAL_SYSTEM
+AC_PREREQ(2.61)
+AC_CONFIG_SRCDIR(src/Geodesic.cpp)
+AC_CONFIG_MACRO_DIR(m4)
+AM_INIT_AUTOMAKE
+
+GEOGRAPHICLIB_VERSION_MAJOR=1
+GEOGRAPHICLIB_VERSION_MINOR=34
+GEOGRAPHICLIB_VERSION_PATCH=0
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_MAJOR],
+	[$GEOGRAPHICLIB_VERSION_MAJOR],[major version number])
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_MINOR],
+	[$GEOGRAPHICLIB_VERSION_MINOR],[minor version number])
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_PATCH],
+	[$GEOGRAPHICLIB_VERSION_PATCH],[patch number])
+AC_SUBST(GEOGRAPHICLIB_VERSION_MAJOR)
+AC_SUBST(GEOGRAPHICLIB_VERSION_MINOR)
+AC_SUBST(GEOGRAPHICLIB_VERSION_PATCH)
+
+dnl
+dnl This directive is deprecated by someone, but I prefer to avoid
+dnl running autotools if not required explicitly. The reason is
+dnl the need to be in sync with autoconf/automake.
+dnl
+AM_MAINTAINER_MODE
+
+AC_CONFIG_HEADERS(include/GeographicLib/Config-ac.h)
+
+dnl Library code modified:              REVISION++
+dnl Interfaces changed/added/removed:   CURRENT++ REVISION=0
+dnl Interfaces added:                   AGE++
+dnl Interfaces removed:                 AGE=0
+LT_CURRENT=11
+LT_REVISION=1
+LT_AGE=1
+AC_SUBST(LT_CURRENT)
+AC_SUBST(LT_REVISION)
+AC_SUBST(LT_AGE)
+
+AC_ARG_PROGRAM
+AC_PROG_CPP
+AC_PROG_MAKE_SET
+AC_PROG_INSTALL
+AC_PROG_CXX
+AC_PROG_LIBTOOL
+
+# Checks for header files.
+AC_CHECK_HEADERS([float.h])
+
+# Checks for typedefs, structures, and compiler characteristics.
+AC_HEADER_STDBOOL
+AC_C_INLINE
+AC_TYPE_LONG_DOUBLE
+
+# Checks for library functions.
+AC_FUNC_STRTOD
+AC_CHECK_FUNCS([strtol])
+AC_SEARCH_LIBS([floor],[m])
+AC_SEARCH_LIBS([pow],[m])
+AC_SEARCH_LIBS([sqrt],[m])
+
+# Check endianness
+AC_C_BIGENDIAN
+
+# Check for doxygen.
+# Need version 1.8.1.2 or later for greek and math symbols.
+AC_CHECK_PROGS([DOXYGEN], [doxygen])
+AM_CONDITIONAL([HAVE_DOXYGEN],
+	[test "$DOXYGEN" && test `"$DOXYGEN" --version |
+	sed 's/^\([[0-9]]\)\.\([[0-9]]\)\./\1.0\2./'` '>' 1.08.1.1])
+
+AC_CHECK_PROGS([POD2MAN], [pod2man])
+AC_CHECK_PROGS([POD2HTML], [pod2html])
+AC_CHECK_PROGS([COL], [col])
+AM_CONDITIONAL([HAVE_PODPROGS], [test "$POD2MAN" -a  "$POD2HTML" -a "$COL"])
+
+dnl
+dnl Add here new file to be generated
+dnl
+AC_CONFIG_FILES([
+Makefile
+src/Makefile
+include/Makefile
+tools/Makefile
+doc/Makefile
+man/Makefile
+matlab/Makefile
+python/Makefile
+cmake/Makefile
+examples/Makefile
+])
+AC_OUTPUT

gtsam/3rdparty/GeographicLib/depcomp

@@ -0,0 +1,707 @@
+#! /bin/sh
+# depcomp - compile a program generating dependencies as side-effects
+
+scriptversion=2012-03-27.16; # UTC
+
+# Copyright (C) 1999-2012 Free Software Foundation, Inc.
+
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+# Originally written by Alexandre Oliva <oliva@dcc.unicamp.br>.
+
+case $1 in
+  '')
+     echo "$0: No command.  Try '$0 --help' for more information." 1>&2
+     exit 1;
+     ;;
+  -h | --h*)
+    cat <<\EOF
+Usage: depcomp [--help] [--version] PROGRAM [ARGS]
+
+Run PROGRAMS ARGS to compile a file, generating dependencies
+as side-effects.
+
+Environment variables:
+  depmode     Dependency tracking mode.
+  source      Source file read by 'PROGRAMS ARGS'.
+  object      Object file output by 'PROGRAMS ARGS'.
+  DEPDIR      directory where to store dependencies.
+  depfile     Dependency file to output.
+  tmpdepfile  Temporary file to use when outputting dependencies.
+  libtool     Whether libtool is used (yes/no).
+
+Report bugs to <bug-automake@gnu.org>.
+EOF
+    exit $?
+    ;;
+  -v | --v*)
+    echo "depcomp $scriptversion"
+    exit $?
+    ;;
+esac
+
+# A tabulation character.
+tab='	'
+# A newline character.
+nl='
+'
+
+if test -z "$depmode" || test -z "$source" || test -z "$object"; then
+  echo "depcomp: Variables source, object and depmode must be set" 1>&2
+  exit 1
+fi
+
+# Dependencies for sub/bar.o or sub/bar.obj go into sub/.deps/bar.Po.
+depfile=${depfile-`echo "$object" |
+  sed 's|[^\\/]*$|'${DEPDIR-.deps}'/&|;s|\.\([^.]*\)$|.P\1|;s|Pobj$|Po|'`}
+tmpdepfile=${tmpdepfile-`echo "$depfile" | sed 's/\.\([^.]*\)$/.T\1/'`}
+
+rm -f "$tmpdepfile"
+
+# Some modes work just like other modes, but use different flags.  We
+# parameterize here, but still list the modes in the big case below,
+# to make depend.m4 easier to write.  Note that we *cannot* use a case
+# here, because this file can only contain one case statement.
+if test "$depmode" = hp; then
+  # HP compiler uses -M and no extra arg.
+  gccflag=-M
+  depmode=gcc
+fi
+
+if test "$depmode" = dashXmstdout; then
+   # This is just like dashmstdout with a different argument.
+   dashmflag=-xM
+   depmode=dashmstdout
+fi
+
+cygpath_u="cygpath -u -f -"
+if test "$depmode" = msvcmsys; then
+   # This is just like msvisualcpp but w/o cygpath translation.
+   # Just convert the backslash-escaped backslashes to single forward
+   # slashes to satisfy depend.m4
+   cygpath_u='sed s,\\\\,/,g'
+   depmode=msvisualcpp
+fi
+
+if test "$depmode" = msvc7msys; then
+   # This is just like msvc7 but w/o cygpath translation.
+   # Just convert the backslash-escaped backslashes to single forward
+   # slashes to satisfy depend.m4
+   cygpath_u='sed s,\\\\,/,g'
+   depmode=msvc7
+fi
+
+if test "$depmode" = xlc; then
+   # IBM C/C++ Compilers xlc/xlC can output gcc-like dependency informations.
+   gccflag=-qmakedep=gcc,-MF
+   depmode=gcc
+fi
+
+case "$depmode" in
+gcc3)
+## gcc 3 implements dependency tracking that does exactly what
+## we want.  Yay!  Note: for some reason libtool 1.4 doesn't like
+## it if -MD -MP comes after the -MF stuff.  Hmm.
+## Unfortunately, FreeBSD c89 acceptance of flags depends upon
+## the command line argument order; so add the flags where they
+## appear in depend2.am.  Note that the slowdown incurred here
+## affects only configure: in makefiles, %FASTDEP% shortcuts this.
+  for arg
+  do
+    case $arg in
+    -c) set fnord "$@" -MT "$object" -MD -MP -MF "$tmpdepfile" "$arg" ;;
+    *)  set fnord "$@" "$arg" ;;
+    esac
+    shift # fnord
+    shift # $arg
+  done
+  "$@"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  mv "$tmpdepfile" "$depfile"
+  ;;
+
+gcc)
+## There are various ways to get dependency output from gcc.  Here's
+## why we pick this rather obscure method:
+## - Don't want to use -MD because we'd like the dependencies to end
+##   up in a subdir.  Having to rename by hand is ugly.
+##   (We might end up doing this anyway to support other compilers.)
+## - The DEPENDENCIES_OUTPUT environment variable makes gcc act like
+##   -MM, not -M (despite what the docs say).
+## - Using -M directly means running the compiler twice (even worse
+##   than renaming).
+  if test -z "$gccflag"; then
+    gccflag=-MD,
+  fi
+  "$@" -Wp,"$gccflag$tmpdepfile"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  alpha=ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
+## The second -e expression handles DOS-style file names with drive letters.
+  sed -e 's/^[^:]*: / /' \
+      -e 's/^['$alpha']:\/[^:]*: / /' < "$tmpdepfile" >> "$depfile"
+## This next piece of magic avoids the "deleted header file" problem.
+## The problem is that when a header file which appears in a .P file
+## is deleted, the dependency causes make to die (because there is
+## typically no way to rebuild the header).  We avoid this by adding
+## dummy dependencies for each header file.  Too bad gcc doesn't do
+## this for us directly.
+  tr ' ' "$nl" < "$tmpdepfile" |
+## Some versions of gcc put a space before the ':'.  On the theory
+## that the space means something, we add a space to the output as
+## well.  hp depmode also adds that space, but also prefixes the VPATH
+## to the object.  Take care to not repeat it in the output.
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e "s|.*$object$||" -e '/:$/d' \
+      | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+hp)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+sgi)
+  if test "$libtool" = yes; then
+    "$@" "-Wp,-MDupdate,$tmpdepfile"
+  else
+    "$@" -MDupdate "$tmpdepfile"
+  fi
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+
+  if test -f "$tmpdepfile"; then  # yes, the sourcefile depend on other files
+    echo "$object : \\" > "$depfile"
+
+    # Clip off the initial element (the dependent).  Don't try to be
+    # clever and replace this with sed code, as IRIX sed won't handle
+    # lines with more than a fixed number of characters (4096 in
+    # IRIX 6.2 sed, 8192 in IRIX 6.5).  We also remove comment lines;
+    # the IRIX cc adds comments like '#:fec' to the end of the
+    # dependency line.
+    tr ' ' "$nl" < "$tmpdepfile" \
+    | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' | \
+    tr "$nl" ' ' >> "$depfile"
+    echo >> "$depfile"
+
+    # The second pass generates a dummy entry for each header file.
+    tr ' ' "$nl" < "$tmpdepfile" \
+   | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' -e 's/$/:/' \
+   >> "$depfile"
+  else
+    # The sourcefile does not contain any dependencies, so just
+    # store a dummy comment line, to avoid errors with the Makefile
+    # "include basename.Plo" scheme.
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile"
+  ;;
+
+xlc)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+aix)
+  # The C for AIX Compiler uses -M and outputs the dependencies
+  # in a .u file.  In older versions, this file always lives in the
+  # current directory.  Also, the AIX compiler puts '$object:' at the
+  # start of each line; $object doesn't have directory information.
+  # Version 6 uses the directory in both cases.
+  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+  test "x$dir" = "x$object" && dir=
+  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+  if test "$libtool" = yes; then
+    tmpdepfile1=$dir$base.u
+    tmpdepfile2=$base.u
+    tmpdepfile3=$dir.libs/$base.u
+    "$@" -Wc,-M
+  else
+    tmpdepfile1=$dir$base.u
+    tmpdepfile2=$dir$base.u
+    tmpdepfile3=$dir$base.u
+    "$@" -M
+  fi
+  stat=$?
+
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
+    exit $stat
+  fi
+
+  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
+  do
+    test -f "$tmpdepfile" && break
+  done
+  if test -f "$tmpdepfile"; then
+    # Each line is of the form 'foo.o: dependent.h'.
+    # Do two passes, one to just change these to
+    # '$object: dependent.h' and one to simply 'dependent.h:'.
+    sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
+    sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
+  else
+    # The sourcefile does not contain any dependencies, so just
+    # store a dummy comment line, to avoid errors with the Makefile
+    # "include basename.Plo" scheme.
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile"
+  ;;
+
+icc)
+  # Intel's C compiler anf tcc (Tiny C Compiler) understand '-MD -MF file'.
+  # However on
+  #    $CC -MD -MF foo.d -c -o sub/foo.o sub/foo.c
+  # ICC 7.0 will fill foo.d with something like
+  #    foo.o: sub/foo.c
+  #    foo.o: sub/foo.h
+  # which is wrong.  We want
+  #    sub/foo.o: sub/foo.c
+  #    sub/foo.o: sub/foo.h
+  #    sub/foo.c:
+  #    sub/foo.h:
+  # ICC 7.1 will output
+  #    foo.o: sub/foo.c sub/foo.h
+  # and will wrap long lines using '\':
+  #    foo.o: sub/foo.c ... \
+  #     sub/foo.h ... \
+  #     ...
+  # tcc 0.9.26 (FIXME still under development at the moment of writing)
+  # will emit a similar output, but also prepend the continuation lines
+  # with horizontal tabulation characters.
+  "$@" -MD -MF "$tmpdepfile"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  # Each line is of the form 'foo.o: dependent.h',
+  # or 'foo.o: dep1.h dep2.h \', or ' dep3.h dep4.h \'.
+  # Do two passes, one to just change these to
+  # '$object: dependent.h' and one to simply 'dependent.h:'.
+  sed -e "s/^[ $tab][ $tab]*/  /" -e "s,^[^:]*:,$object :," \
+    < "$tmpdepfile" > "$depfile"
+  sed '
+    s/[ '"$tab"'][ '"$tab"']*/ /g
+    s/^ *//
+    s/ *\\*$//
+    s/^[^:]*: *//
+    /^$/d
+    /:$/d
+    s/$/ :/
+  ' < "$tmpdepfile" >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+hp2)
+  # The "hp" stanza above does not work with aCC (C++) and HP's ia64
+  # compilers, which have integrated preprocessors.  The correct option
+  # to use with these is +Maked; it writes dependencies to a file named
+  # 'foo.d', which lands next to the object file, wherever that
+  # happens to be.
+  # Much of this is similar to the tru64 case; see comments there.
+  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+  test "x$dir" = "x$object" && dir=
+  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+  if test "$libtool" = yes; then
+    tmpdepfile1=$dir$base.d
+    tmpdepfile2=$dir.libs/$base.d
+    "$@" -Wc,+Maked
+  else
+    tmpdepfile1=$dir$base.d
+    tmpdepfile2=$dir$base.d
+    "$@" +Maked
+  fi
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+     rm -f "$tmpdepfile1" "$tmpdepfile2"
+     exit $stat
+  fi
+
+  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2"
+  do
+    test -f "$tmpdepfile" && break
+  done
+  if test -f "$tmpdepfile"; then
+    sed -e "s,^.*\.[a-z]*:,$object:," "$tmpdepfile" > "$depfile"
+    # Add 'dependent.h:' lines.
+    sed -ne '2,${
+	       s/^ *//
+	       s/ \\*$//
+	       s/$/:/
+	       p
+	     }' "$tmpdepfile" >> "$depfile"
+  else
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile" "$tmpdepfile2"
+  ;;
+
+tru64)
+   # The Tru64 compiler uses -MD to generate dependencies as a side
+   # effect.  'cc -MD -o foo.o ...' puts the dependencies into 'foo.o.d'.
+   # At least on Alpha/Redhat 6.1, Compaq CCC V6.2-504 seems to put
+   # dependencies in 'foo.d' instead, so we check for that too.
+   # Subdirectories are respected.
+   dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+   test "x$dir" = "x$object" && dir=
+   base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+
+   if test "$libtool" = yes; then
+      # With Tru64 cc, shared objects can also be used to make a
+      # static library.  This mechanism is used in libtool 1.4 series to
+      # handle both shared and static libraries in a single compilation.
+      # With libtool 1.4, dependencies were output in $dir.libs/$base.lo.d.
+      #
+      # With libtool 1.5 this exception was removed, and libtool now
+      # generates 2 separate objects for the 2 libraries.  These two
+      # compilations output dependencies in $dir.libs/$base.o.d and
+      # in $dir$base.o.d.  We have to check for both files, because
+      # one of the two compilations can be disabled.  We should prefer
+      # $dir$base.o.d over $dir.libs/$base.o.d because the latter is
+      # automatically cleaned when .libs/ is deleted, while ignoring
+      # the former would cause a distcleancheck panic.
+      tmpdepfile1=$dir.libs/$base.lo.d   # libtool 1.4
+      tmpdepfile2=$dir$base.o.d          # libtool 1.5
+      tmpdepfile3=$dir.libs/$base.o.d    # libtool 1.5
+      tmpdepfile4=$dir.libs/$base.d      # Compaq CCC V6.2-504
+      "$@" -Wc,-MD
+   else
+      tmpdepfile1=$dir$base.o.d
+      tmpdepfile2=$dir$base.d
+      tmpdepfile3=$dir$base.d
+      tmpdepfile4=$dir$base.d
+      "$@" -MD
+   fi
+
+   stat=$?
+   if test $stat -eq 0; then :
+   else
+      rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+      exit $stat
+   fi
+
+   for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+   do
+     test -f "$tmpdepfile" && break
+   done
+   if test -f "$tmpdepfile"; then
+      sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
+      sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
+   else
+      echo "#dummy" > "$depfile"
+   fi
+   rm -f "$tmpdepfile"
+   ;;
+
+msvc7)
+  if test "$libtool" = yes; then
+    showIncludes=-Wc,-showIncludes
+  else
+    showIncludes=-showIncludes
+  fi
+  "$@" $showIncludes > "$tmpdepfile"
+  stat=$?
+  grep -v '^Note: including file: ' "$tmpdepfile"
+  if test "$stat" = 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  # The first sed program below extracts the file names and escapes
+  # backslashes for cygpath.  The second sed program outputs the file
+  # name when reading, but also accumulates all include files in the
+  # hold buffer in order to output them again at the end.  This only
+  # works with sed implementations that can handle large buffers.
+  sed < "$tmpdepfile" -n '
+/^Note: including file:  *\(.*\)/ {
+  s//\1/
+  s/\\/\\\\/g
+  p
+}' | $cygpath_u | sort -u | sed -n '
+s/ /\\ /g
+s/\(.*\)/'"$tab"'\1 \\/p
+s/.\(.*\) \\/\1:/
+H
+$ {
+  s/.*/'"$tab"'/
+  G
+  p
+}' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvc7msys)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+#nosideeffect)
+  # This comment above is used by automake to tell side-effect
+  # dependency tracking mechanisms from slower ones.
+
+dashmstdout)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout, regardless of -o.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  # Remove '-o $object'.
+  IFS=" "
+  for arg
+  do
+    case $arg in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    *)
+      set fnord "$@" "$arg"
+      shift # fnord
+      shift # $arg
+      ;;
+    esac
+  done
+
+  test -z "$dashmflag" && dashmflag=-M
+  # Require at least two characters before searching for ':'
+  # in the target name.  This is to cope with DOS-style filenames:
+  # a dependency such as 'c:/foo/bar' could be seen as target 'c' otherwise.
+  "$@" $dashmflag |
+    sed 's:^['"$tab"' ]*[^:'"$tab"' ][^:][^:]*\:['"$tab"' ]*:'"$object"'\: :' > "$tmpdepfile"
+  rm -f "$depfile"
+  cat < "$tmpdepfile" > "$depfile"
+  tr ' ' "$nl" < "$tmpdepfile" | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+dashXmstdout)
+  # This case only exists to satisfy depend.m4.  It is never actually
+  # run, as this mode is specially recognized in the preamble.
+  exit 1
+  ;;
+
+makedepend)
+  "$@" || exit $?
+  # Remove any Libtool call
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+  # X makedepend
+  shift
+  cleared=no eat=no
+  for arg
+  do
+    case $cleared in
+    no)
+      set ""; shift
+      cleared=yes ;;
+    esac
+    if test $eat = yes; then
+      eat=no
+      continue
+    fi
+    case "$arg" in
+    -D*|-I*)
+      set fnord "$@" "$arg"; shift ;;
+    # Strip any option that makedepend may not understand.  Remove
+    # the object too, otherwise makedepend will parse it as a source file.
+    -arch)
+      eat=yes ;;
+    -*|$object)
+      ;;
+    *)
+      set fnord "$@" "$arg"; shift ;;
+    esac
+  done
+  obj_suffix=`echo "$object" | sed 's/^.*\././'`
+  touch "$tmpdepfile"
+  ${MAKEDEPEND-makedepend} -o"$obj_suffix" -f"$tmpdepfile" "$@"
+  rm -f "$depfile"
+  # makedepend may prepend the VPATH from the source file name to the object.
+  # No need to regex-escape $object, excess matching of '.' is harmless.
+  sed "s|^.*\($object *:\)|\1|" "$tmpdepfile" > "$depfile"
+  sed '1,2d' "$tmpdepfile" | tr ' ' "$nl" | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile" "$tmpdepfile".bak
+  ;;
+
+cpp)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  # Remove '-o $object'.
+  IFS=" "
+  for arg
+  do
+    case $arg in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    *)
+      set fnord "$@" "$arg"
+      shift # fnord
+      shift # $arg
+      ;;
+    esac
+  done
+
+  "$@" -E |
+    sed -n -e '/^# [0-9][0-9]* "\([^"]*\)".*/ s:: \1 \\:p' \
+       -e '/^#line [0-9][0-9]* "\([^"]*\)".*/ s:: \1 \\:p' |
+    sed '$ s: \\$::' > "$tmpdepfile"
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  cat < "$tmpdepfile" >> "$depfile"
+  sed < "$tmpdepfile" '/^$/d;s/^ //;s/ \\$//;s/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvisualcpp)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  IFS=" "
+  for arg
+  do
+    case "$arg" in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    "-Gm"|"/Gm"|"-Gi"|"/Gi"|"-ZI"|"/ZI")
+	set fnord "$@"
+	shift
+	shift
+	;;
+    *)
+	set fnord "$@" "$arg"
+	shift
+	shift
+	;;
+    esac
+  done
+  "$@" -E 2>/dev/null |
+  sed -n '/^#line [0-9][0-9]* "\([^"]*\)"/ s::\1:p' | $cygpath_u | sort -u > "$tmpdepfile"
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  sed < "$tmpdepfile" -n -e 's% %\\ %g' -e '/^\(.*\)$/ s::'"$tab"'\1 \\:p' >> "$depfile"
+  echo "$tab" >> "$depfile"
+  sed < "$tmpdepfile" -n -e 's% %\\ %g' -e '/^\(.*\)$/ s::\1\::p' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvcmsys)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+none)
+  exec "$@"
+  ;;
+
+*)
+  echo "Unknown depmode $depmode" 1>&2
+  exit 1
+  ;;
+esac
+
+exit 0
+
+# Local Variables:
+# mode: shell-script
+# sh-indentation: 2
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "scriptversion="
+# time-stamp-format: "%:y-%02m-%02d.%02H"
+# time-stamp-time-zone: "UTC"
+# time-stamp-end: "; # UTC"
+# End:

gtsam/3rdparty/GeographicLib/doc/CMakeLists.txt

@@ -0,0 +1,83 @@
+# Where the html versions of the man pages (extension .1.html) are
+# found.
+set (MANDIR ${PROJECT_BINARY_DIR}/man)
+
+# Build up a list of the .1.html files.
+set (HTMLMAN)
+foreach (TOOL ${TOOLS})
+  set (HTMLMAN ${HTMLMAN} ${MANDIR}/${TOOL}.1.html)
+endforeach ()
+
+if (COMMON_INSTALL_PATH)
+  set (INSTALL_DOC_DIR "share/doc/GeographicLib")
+else ()
+  set (INSTALL_DOC_DIR "doc")
+endif ()
+
+# Run doxygen, if available
+
+# First assemble a list of all the files the documentation uses.  Add a
+# dependency on htmlman (from man/CMakeLists.txt).  Use html/index.html
+# as the make target.  To make this target, copy the non-doxygen
+# generated files into html/.  Run doxfile.in thru cmake's config
+# process so that absolute path names are used and so that the pathnames
+# are properly stripped by doxygen (via STRIP_FROM_PATH). The
+# distrib-doc target copies the html directory into the source tree.
+
+# If doxygen is not available, only the install step (from the source
+# tree) is done.
+
+file (MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html-stage)
+if (DOXYGEN_FOUND)
+  configure_file (doxyfile.in doxyfile)
+  configure_file (doxyfile-c.in doxyfile-c)
+  configure_file (doxyfile-for.in doxyfile-for)
+  configure_file (doxyfile-net.in doxyfile-net)
+  file (GLOB SOURCES
+    ../src/[A-Za-z]*.cpp ../include/GeographicLib/[A-Za-z]*.hpp
+    ../tools/[A-Za-z]*.cpp ../examples/[A-Za-z]*.cpp
+    ../legacy/C/*.[ch] ../legacy/Fortran/*.for ../legacy/Fortran/*.inc
+    ../dotnet/NETGeographicLib/*.cpp ../dotnet/NETGeographicLib/*.h
+    ../dotnet/examples/CS/*.cs ../dotnet/examples/ManagedCPP/*.cpp
+    ../dotnet/examples/VB/*.vb)
+  file (GLOB EXTRA_FILES ../maxima/[A-Za-z]*.mac
+    tmseries30.html geodseries30.html ../LICENSE.txt)
+  file (GLOB FIGURES *.png)
+  file (COPY ${EXTRA_FILES} DESTINATION html-stage)
+  add_custom_target (doc ALL
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html/index.html)
+  add_dependencies (doc htmlman)
+  add_custom_command (OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/doxyfile
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-c
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-for
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-net
+      GeographicLib.dox geodesic-c.dox geodesic-for.dox NETGeographicLib.dox
+      ${SOURCES} ${EXTRA_FILES} ${FIGURES} ${HTMLMAN}
+    COMMAND ${CMAKE_COMMAND} -E remove_directory html
+    COMMAND ${CMAKE_COMMAND} -E copy_directory html-stage html
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile > doxygen.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-c > doxygen-c.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-for > doxygen-for.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-net > doxygen-net.log
+    COMMENT "Generating html documentation tree")
+  install (DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html
+    DESTINATION ${INSTALL_DOC_DIR})
+else ()
+  file (COPY ../LICENSE.txt DESTINATION html)
+  # Need to absolute path on destination to support old versions of cmake
+  configure_file (index.html.in html/index.html)
+  configure_file (utilities.html.in html/utilities.html)
+  install (FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/html/LICENSE.txt
+    ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+    ${CMAKE_CURRENT_BINARY_DIR}/html/utilities.html
+    DESTINATION ${INSTALL_DOC_DIR}/html)
+endif ()
+
+# Finally install the JavaScript files
+file (GLOB SCRIPTDRIVERS scripts/[A-Za-z]*.html)
+file (GLOB JSSCRIPTS scripts/GeographicLib/[A-Za-z]*.js)
+install (FILES ${SCRIPTDRIVERS} DESTINATION ${INSTALL_DOC_DIR}/scripts)
+install (FILES ${JSSCRIPTS}
+  DESTINATION ${INSTALL_DOC_DIR}/scripts/GeographicLib)

gtsam/3rdparty/GeographicLib/doc/Makefile.am

@@ -0,0 +1,160 @@
+EXTRAFILES = $(srcdir)/tmseries30.html $(srcdir)/geodseries30.html
+
+FIGURES = $(srcdir)/gauss-krueger-graticule.png \
+	$(srcdir)/thompson-tm-graticule.png \
+	$(srcdir)/gauss-krueger-convergence-scale.png \
+	$(srcdir)/gauss-schreiber-graticule-a.png \
+	$(srcdir)/gauss-krueger-graticule-a.png \
+	$(srcdir)/thompson-tm-graticule-a.png \
+	$(srcdir)/gauss-krueger-error.png \
+	$(srcdir)/meridian-measures.png
+
+SCRIPTDRIVERS = \
+	$(srcdir)/scripts/geod-calc.html \
+	$(srcdir)/scripts/geod-google.html \
+	$(srcdir)/scripts/geod-google-instructions.html
+
+JSSCRIPTS = \
+	$(srcdir)/scripts/GeographicLib/Math.js \
+	$(srcdir)/scripts/GeographicLib/Geodesic.js \
+	$(srcdir)/scripts/GeographicLib/GeodesicLine.js \
+	$(srcdir)/scripts/GeographicLib/PolygonArea.js \
+	$(srcdir)/scripts/GeographicLib/DMS.js \
+	$(srcdir)/scripts/GeographicLib/Interface.js
+
+HPPFILES = \
+	$(top_srcdir)/include/GeographicLib/Accumulator.hpp \
+	$(top_srcdir)/include/GeographicLib/AlbersEqualArea.hpp \
+	$(top_srcdir)/include/GeographicLib/AzimuthalEquidistant.hpp \
+	$(top_srcdir)/include/GeographicLib/CassiniSoldner.hpp \
+	$(top_srcdir)/include/GeographicLib/Constants.hpp \
+	$(top_srcdir)/include/GeographicLib/DMS.hpp \
+	$(top_srcdir)/include/GeographicLib/Ellipsoid.hpp \
+	$(top_srcdir)/include/GeographicLib/EllipticFunction.hpp \
+	$(top_srcdir)/include/GeographicLib/Geocentric.hpp \
+	$(top_srcdir)/include/GeographicLib/GeoCoords.hpp \
+	$(top_srcdir)/include/GeographicLib/Geodesic.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicExact.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLine.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLineExact.hpp \
+	$(top_srcdir)/include/GeographicLib/Geohash.hpp \
+	$(top_srcdir)/include/GeographicLib/Geoid.hpp \
+	$(top_srcdir)/include/GeographicLib/Gnomonic.hpp \
+	$(top_srcdir)/include/GeographicLib/LambertConformalConic.hpp \
+	$(top_srcdir)/include/GeographicLib/LocalCartesian.hpp \
+	$(top_srcdir)/include/GeographicLib/Math.hpp \
+	$(top_srcdir)/include/GeographicLib/MGRS.hpp \
+	$(top_srcdir)/include/GeographicLib/OSGB.hpp \
+	$(top_srcdir)/include/GeographicLib/PolarStereographic.hpp \
+	$(top_srcdir)/include/GeographicLib/PolygonArea.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercatorExact.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercator.hpp \
+	$(top_srcdir)/include/GeographicLib/UTMUPS.hpp
+
+ALLSOURCES = \
+	$(top_srcdir)/src/AlbersEqualArea.cpp \
+	$(top_srcdir)/src/AzimuthalEquidistant.cpp \
+	$(top_srcdir)/src/CassiniSoldner.cpp \
+	$(top_srcdir)/src/DMS.cpp \
+	$(top_srcdir)/src/Ellipsoid.cpp \
+	$(top_srcdir)/src/EllipticFunction.cpp \
+	$(top_srcdir)/src/Geocentric.cpp \
+	$(top_srcdir)/src/GeoCoords.cpp \
+	$(top_srcdir)/src/Geodesic.cpp \
+	$(top_srcdir)/src/GeodesicLine.cpp \
+	$(top_srcdir)/src/Geohash.cpp \
+	$(top_srcdir)/src/Geoid.cpp \
+	$(top_srcdir)/src/Gnomonic.cpp \
+	$(top_srcdir)/src/LambertConformalConic.cpp \
+	$(top_srcdir)/src/LocalCartesian.cpp \
+	$(top_srcdir)/src/MGRS.cpp \
+	$(top_srcdir)/src/OSGB.cpp \
+	$(top_srcdir)/src/PolarStereographic.cpp \
+	$(top_srcdir)/src/PolygonArea.cpp \
+	$(top_srcdir)/src/TransverseMercator.cpp \
+	$(top_srcdir)/src/TransverseMercatorExact.cpp \
+	$(top_srcdir)/src/UTMUPS.cpp \
+	$(top_srcdir)/tools/CartConvert.cpp \
+	$(top_srcdir)/tools/ConicProj.cpp \
+	$(top_srcdir)/tools/GeodesicProj.cpp \
+	$(top_srcdir)/tools/GeoConvert.cpp \
+	$(top_srcdir)/tools/GeodSolve.cpp \
+	$(top_srcdir)/tools/GeoidEval.cpp \
+	$(top_srcdir)/tools/Gravity.cpp \
+	$(top_srcdir)/tools/Planimeter.cpp \
+	$(top_srcdir)/tools/TransverseMercatorProj.cpp
+
+MANPAGES = \
+	../man/CartConvert.1.html \
+	../man/ConicProj.1.html \
+	../man/GeodesicProj.1.html \
+	../man/GeoConvert.1.html \
+	../man/GeodSolve.1.html \
+	../man/GeoidEval.1.html \
+	../man/Gravity.1.html \
+	../man/MagneticField.1.html \
+	../man/Planimeter.1.html \
+	../man/TransverseMercatorProj.1.html
+
+LEGACYFILES = \
+	$(top_srcdir)/legacy/C/geodesic.c \
+	$(top_srcdir)/legacy/C/geodesic.h \
+	$(top_srcdir)/legacy/C/direct.c \
+	$(top_srcdir)/legacy/C/inverse.c \
+	$(top_srcdir)/legacy/C/planimeter.c \
+	$(top_srcdir)/legacy/Fortran/geodesic.for \
+	$(top_srcdir)/legacy/Fortran/geodesic.inc \
+	$(top_srcdir)/legacy/Fortran/geoddirect.for \
+	$(top_srcdir)/legacy/Fortran/geodinverse.for \
+	$(top_srcdir)/legacy/Fortran/planimeter.for
+
+doc: html/index.html
+
+if HAVE_DOXYGEN
+manpages: $(MANPAGES)
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp $^ html/
+	touch $@
+
+html/index.html: manpages doxyfile.in GeographicLib.dox \
+	$(HPPFILES) $(ALLSOURCES) $(EXTRAFILES) $(FIGURES) \
+	doxyfile-c.in geodesic-c.dox doxyfile-for.in geodesic-for.dox \
+	$(LEGACYFILES)
+	cp -p $(EXTRAFILES) $(top_srcdir)/maxima/*.mac \
+	$(top_srcdir)/LICENSE.txt html/
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile.in | $(DOXYGEN) -
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile-c.in | $(DOXYGEN) -
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile-for.in | $(DOXYGEN) -
+else
+html/index.html: index.html.in utilities.html.in
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp $(top_srcdir)/LICENSE.txt html/
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/utilities.html.in > html/utilities.html
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/index.html.in > html/index.html
+endif
+
+maintainer-clean-local:
+	rm -rf html manpages
+
+install-doc: html/index.html
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html
+	$(INSTALL) -m 644 `dirname $<`/*.* $(DESTDIR)$(docdir)/html
+	-test -f `dirname $<`/C/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/C && \
+	$(INSTALL) -m 644 `dirname $<`/C/*.* $(DESTDIR)$(docdir)/html/C
+	-test -f `dirname $<`/Fortran/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/Fortran && \
+	$(INSTALL) -m 644 `dirname $<`/Fortran/*.* \
+	$(DESTDIR)$(docdir)/html/Fortran
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts/GeographicLib
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(DESTDIR)$(docdir)/scripts/GeographicLib

gtsam/3rdparty/GeographicLib/doc/Makefile.in

@@ -0,0 +1,561 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = doc
+DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+EXTRAFILES = $(srcdir)/tmseries30.html $(srcdir)/geodseries30.html
+FIGURES = $(srcdir)/gauss-krueger-graticule.png \
+	$(srcdir)/thompson-tm-graticule.png \
+	$(srcdir)/gauss-krueger-convergence-scale.png \
+	$(srcdir)/gauss-schreiber-graticule-a.png \
+	$(srcdir)/gauss-krueger-graticule-a.png \
+	$(srcdir)/thompson-tm-graticule-a.png \
+	$(srcdir)/gauss-krueger-error.png \
+	$(srcdir)/meridian-measures.png
+
+SCRIPTDRIVERS = \
+	$(srcdir)/scripts/geod-calc.html \
+	$(srcdir)/scripts/geod-google.html \
+	$(srcdir)/scripts/geod-google-instructions.html
+
+JSSCRIPTS = \
+	$(srcdir)/scripts/GeographicLib/Math.js \
+	$(srcdir)/scripts/GeographicLib/Geodesic.js \
+	$(srcdir)/scripts/GeographicLib/GeodesicLine.js \
+	$(srcdir)/scripts/GeographicLib/PolygonArea.js \
+	$(srcdir)/scripts/GeographicLib/DMS.js \
+	$(srcdir)/scripts/GeographicLib/Interface.js
+
+HPPFILES = \
+	$(top_srcdir)/include/GeographicLib/Accumulator.hpp \
+	$(top_srcdir)/include/GeographicLib/AlbersEqualArea.hpp \
+	$(top_srcdir)/include/GeographicLib/AzimuthalEquidistant.hpp \
+	$(top_srcdir)/include/GeographicLib/CassiniSoldner.hpp \
+	$(top_srcdir)/include/GeographicLib/Constants.hpp \
+	$(top_srcdir)/include/GeographicLib/DMS.hpp \
+	$(top_srcdir)/include/GeographicLib/Ellipsoid.hpp \
+	$(top_srcdir)/include/GeographicLib/EllipticFunction.hpp \
+	$(top_srcdir)/include/GeographicLib/Geocentric.hpp \
+	$(top_srcdir)/include/GeographicLib/GeoCoords.hpp \
+	$(top_srcdir)/include/GeographicLib/Geodesic.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicExact.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLine.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLineExact.hpp \
+	$(top_srcdir)/include/GeographicLib/Geohash.hpp \
+	$(top_srcdir)/include/GeographicLib/Geoid.hpp \
+	$(top_srcdir)/include/GeographicLib/Gnomonic.hpp \
+	$(top_srcdir)/include/GeographicLib/LambertConformalConic.hpp \
+	$(top_srcdir)/include/GeographicLib/LocalCartesian.hpp \
+	$(top_srcdir)/include/GeographicLib/Math.hpp \
+	$(top_srcdir)/include/GeographicLib/MGRS.hpp \
+	$(top_srcdir)/include/GeographicLib/OSGB.hpp \
+	$(top_srcdir)/include/GeographicLib/PolarStereographic.hpp \
+	$(top_srcdir)/include/GeographicLib/PolygonArea.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercatorExact.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercator.hpp \
+	$(top_srcdir)/include/GeographicLib/UTMUPS.hpp
+
+ALLSOURCES = \
+	$(top_srcdir)/src/AlbersEqualArea.cpp \
+	$(top_srcdir)/src/AzimuthalEquidistant.cpp \
+	$(top_srcdir)/src/CassiniSoldner.cpp \
+	$(top_srcdir)/src/DMS.cpp \
+	$(top_srcdir)/src/Ellipsoid.cpp \
+	$(top_srcdir)/src/EllipticFunction.cpp \
+	$(top_srcdir)/src/Geocentric.cpp \
+	$(top_srcdir)/src/GeoCoords.cpp \
+	$(top_srcdir)/src/Geodesic.cpp \
+	$(top_srcdir)/src/GeodesicLine.cpp \
+	$(top_srcdir)/src/Geohash.cpp \
+	$(top_srcdir)/src/Geoid.cpp \
+	$(top_srcdir)/src/Gnomonic.cpp \
+	$(top_srcdir)/src/LambertConformalConic.cpp \
+	$(top_srcdir)/src/LocalCartesian.cpp \
+	$(top_srcdir)/src/MGRS.cpp \
+	$(top_srcdir)/src/OSGB.cpp \
+	$(top_srcdir)/src/PolarStereographic.cpp \
+	$(top_srcdir)/src/PolygonArea.cpp \
+	$(top_srcdir)/src/TransverseMercator.cpp \
+	$(top_srcdir)/src/TransverseMercatorExact.cpp \
+	$(top_srcdir)/src/UTMUPS.cpp \
+	$(top_srcdir)/tools/CartConvert.cpp \
+	$(top_srcdir)/tools/ConicProj.cpp \
+	$(top_srcdir)/tools/GeodesicProj.cpp \
+	$(top_srcdir)/tools/GeoConvert.cpp \
+	$(top_srcdir)/tools/GeodSolve.cpp \
+	$(top_srcdir)/tools/GeoidEval.cpp \
+	$(top_srcdir)/tools/Gravity.cpp \
+	$(top_srcdir)/tools/Planimeter.cpp \
+	$(top_srcdir)/tools/TransverseMercatorProj.cpp
+
+MANPAGES = \
+	../man/CartConvert.1.html \
+	../man/ConicProj.1.html \
+	../man/GeodesicProj.1.html \
+	../man/GeoConvert.1.html \
+	../man/GeodSolve.1.html \
+	../man/GeoidEval.1.html \
+	../man/Gravity.1.html \
+	../man/MagneticField.1.html \
+	../man/Planimeter.1.html \
+	../man/TransverseMercatorProj.1.html
+
+LEGACYFILES = \
+	$(top_srcdir)/legacy/C/geodesic.c \
+	$(top_srcdir)/legacy/C/geodesic.h \
+	$(top_srcdir)/legacy/C/direct.c \
+	$(top_srcdir)/legacy/C/inverse.c \
+	$(top_srcdir)/legacy/C/planimeter.c \
+	$(top_srcdir)/legacy/Fortran/geodesic.for \
+	$(top_srcdir)/legacy/Fortran/geodesic.inc \
+	$(top_srcdir)/legacy/Fortran/geoddirect.for \
+	$(top_srcdir)/legacy/Fortran/geodinverse.for \
+	$(top_srcdir)/legacy/Fortran/planimeter.for
+
+all: all-am
+
+.SUFFIXES:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu doc/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --gnu doc/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+tags: TAGS
+TAGS:
+
+ctags: CTAGS
+CTAGS:
+
+cscope cscopelist:
+
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-am
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic \
+	maintainer-clean-local
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: all all-am check check-am clean clean-generic clean-libtool \
+	distclean distclean-generic distclean-libtool distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic maintainer-clean-local mostlyclean \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	uninstall uninstall-am
+
+
+doc: html/index.html
+
+@HAVE_DOXYGEN_TRUE@manpages: $(MANPAGES)
+@HAVE_DOXYGEN_TRUE@	if test -d html; then rm -rf html/*; else mkdir html; fi
+@HAVE_DOXYGEN_TRUE@	cp $^ html/
+@HAVE_DOXYGEN_TRUE@	touch $@
+
+@HAVE_DOXYGEN_TRUE@html/index.html: manpages doxyfile.in GeographicLib.dox \
+@HAVE_DOXYGEN_TRUE@	$(HPPFILES) $(ALLSOURCES) $(EXTRAFILES) $(FIGURES) \
+@HAVE_DOXYGEN_TRUE@	doxyfile-c.in geodesic-c.dox doxyfile-for.in geodesic-for.dox \
+@HAVE_DOXYGEN_TRUE@	$(LEGACYFILES)
+@HAVE_DOXYGEN_TRUE@	cp -p $(EXTRAFILES) $(top_srcdir)/maxima/*.mac \
+@HAVE_DOXYGEN_TRUE@	$(top_srcdir)/LICENSE.txt html/
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile-c.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile-for.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_FALSE@html/index.html: index.html.in utilities.html.in
+@HAVE_DOXYGEN_FALSE@	if test -d html; then rm -rf html/*; else mkdir html; fi
+@HAVE_DOXYGEN_FALSE@	cp $(top_srcdir)/LICENSE.txt html/
+@HAVE_DOXYGEN_FALSE@	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_FALSE@	$(srcdir)/utilities.html.in > html/utilities.html
+@HAVE_DOXYGEN_FALSE@	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_FALSE@	$(srcdir)/index.html.in > html/index.html
+
+maintainer-clean-local:
+	rm -rf html manpages
+
+install-doc: html/index.html
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html
+	$(INSTALL) -m 644 `dirname $<`/*.* $(DESTDIR)$(docdir)/html
+	-test -f `dirname $<`/C/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/C && \
+	$(INSTALL) -m 644 `dirname $<`/C/*.* $(DESTDIR)$(docdir)/html/C
+	-test -f `dirname $<`/Fortran/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/Fortran && \
+	$(INSTALL) -m 644 `dirname $<`/Fortran/*.* \
+	$(DESTDIR)$(docdir)/html/Fortran
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts/GeographicLib
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(DESTDIR)$(docdir)/scripts/GeographicLib
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/doc/Makefile.mk

@@ -0,0 +1,30 @@
+SCRIPTDRIVERS = $(wildcard scripts/[A-Za-z]*.html)
+JSSCRIPTS = $(wildcard scripts/GeographicLib/[A-Za-z]*.js)
+
+VERSION:=$(shell grep '\bVERSION=' ../configure | cut -f2 -d\' | head -1)
+
+doc: html/index.html
+
+html/index.html: index.html.in utilities.html.in
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp ../LICENSE.txt html/
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	utilities.html.in > html/utilities.html
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	index.html.in > html/index.html
+
+PREFIX = /usr/local
+DEST = $(PREFIX)/share/doc/GeographicLib
+DOCDEST = $(DEST)/html
+SCRIPTDEST = $(DEST)/scripts
+INSTALL = install -b
+
+install: html/index.html
+	test -d $(DOCDEST) || mkdir -p $(DOCDEST)
+	$(INSTALL) -m 644 html/* $(DOCDEST)/
+	test -d $(SCRIPTDEST)/GeographicLib || \
+	mkdir -p $(SCRIPTDEST)/GeographicLib
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(SCRIPTDEST)/
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(SCRIPTDEST)/GeographicLib/
+
+.PHONY: doc install clean

gtsam/3rdparty/GeographicLib/doc/NETGeographicLib.dox

@@ -0,0 +1,241 @@
+// -*- text -*-
+/**
+ * \file NETGeographicLib.dox
+ * \brief Documentation for NETGeographicLib
+ *
+ * Written by Scott Heiman <mrmtdew2@outlook.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage NETGeographicLib library
+\author Scott Heiman (mrmtdew2@outlook.com)
+\version 1.34
+\date 2013-12-11
+
+\section abstract Abstract
+
+%NETGeographicLib is a .NET wrapper for GeographicLib.  It allows
+.NET developers to access GeographicLib classes within C#, Visual
+Basic, Managed C++, and other Microsoft .NET languages.
+
+NETGeographicLib is written in Managed C++.  It IS NOT a reimplementation
+of the GeographicLib software.  It is a container that provides interfaces
+to the GeographicLib classes.  GeographicLib and NETGeographicLib is an
+integrated product.
+
+The NETGeographic project in the GeographicLib-vc10.sln file located in
+\<install folder\>/GeographicLib-1.34/windows will create the NETGeographicLib
+DLL.  The source code for NETGeographicLib is located in
+\<install folder\>/GeographicLib-1.34/dotnet/NETGeographicLib.  NETGeographicLib
+is not available for older versions of Microsoft Visual Studio.
+
+NETGeographicLib has been tested with C#, Managed C++, and Visual Basic.
+Sample code snippets can be found in
+\<install folder\>/GeographicLib-1.34/dotnet/examples.
+
+\section differences Differences between NETGeographicLib and GeographicLib
+
+The NETGeographicLib class names are identical to the GeographicLib class names.
+All NETGeographicLib classes are in the NETGeographicLib namespace.
+
+NETGeographicLib exposes most of the GeographicLib classes.  The exceptions
+are SphericalEngine, GeographicLib::Math, and GeographicLib::Utility.  The
+SphericalEngine class is a template class which (according to the comments in
+the SphericalEngine.h file) is not usually accessible to developers.  The
+GeographicLib::Math class contains several specialized functions required by
+GeographicLib classes.  They have limited use outside GeographicLib.  This class
+may be exposed in a future release if there is demand for it.  The functions
+provided by GeographicLib::Utility duplicate functions provided by existing .NET
+controls (DateTime).
+
+The SphericalCoefficients class replaces the SphericalEngine::coeff class.
+
+The NETGeographicLib class function interfaces are similar, and in many cases,
+identical to the GeographicLib interfaces.  There are differences because of
+limitations in .NET and other differences that are discretionary.  The comments
+in the header files contain a section labeled "INTERFACE DIFFERENCES" that detail
+the differences between the NETGeographicLib interfaces and the GeographicLib
+interfaces.  The differences are summarized in the text that follows.
+
+Default values for function parameters are not supported in .NET.
+
+Several GeographicLib class functions accept or return a "capabilities mask" as
+an unsigned integer.  The NETGeographicLib classes accept and return the capabilities
+mask as an enumeration.
+
+The Geocentric and LocalCartesian classes have functions that return a rotation matrix.
+The NETGeographicLib versions return a two-dimensional, 3 &times; 3 array rather than a vector.
+
+A lot of GeographicLib classes have inspector functions (MajorRadius,
+Flattening, etc.).  These inspector functions are implemented as
+properties in NETGeographicLib.
+
+NETGeographicLib classes do not implement constructors that create "uninitialized" objects.
+
+Many NETGeographicLib classes implement a default constructor that assumes WGS84 parameters.
+
+Several GeographicLib classes implement the () operator.  NETGeographicLib classes
+replace the () operator with a specific function.  Managed C++ allows developers to
+overload the () operator; however, the () operator is not 'elegantly' supported in
+other .NET languages.  For example, if the () operator was implemented in the
+NETGeographicLib::Geoid class, then C# code would look like
+\code
+Geoid geoid = new Geoid();
+double h = geoid.op_FuncCall(latitude,longitude);  // if () operator was implemented.
+h = geoid.Height(latitude,longitude); // with () operator replaced with Height
+\endcode
+The author felt that the op_FuncCall syntax did not appropriately define the purpose
+of the function call.
+
+.NET does not allow developers to overload the assignment operators (=,+=,-=,*=).
+These operators have been replaced with functions in the NETGeographicLib::Accumulator class.
+
+\section library Using NETGeographicLib in a .NET Application
+
+If you have access to the NETGeographicLib and GeographicLib projects then
+-# Create a new solution.
+-# Create a new project using any .NET language.  For this example, call it MyApp.
+-# Add the NETGeographic and Geographic projects to the solution.  Verify that NETGeographicLib depends upon GeographicLib.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." (C#/VB) or "References..." (Managed C++) in the pop-up menu.
+-# (Managed C++) Click the "Add New Reference..." button in the Properties dialog.
+\image html NETGeographicLib3.png
+-# Click the Projects Tab and select NETGeographic.
+   \image html NETGeographicLib1.png
+-# Click OK.
+
+If you only have access to the NETGeographic.dll then
+-# Create a new solution.
+-# Create a new project using any .NET language.  For this example, call it MyApp.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." in the popup menu.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." (C#/VB) or "References..." (Managed C++) in the pop-up menu.
+-# (Managed C++) Click the "Add New Reference..." button in the Properties dialog.
+\image html NETGeographicLib3.png
+-# Click the Browse Tab and navigate to the folder containing NETGeographic.dll.
+\image html NETGeographicLib2.png
+-# Select NETGeographic.dll and click OK.
+
+The MyApp project will have access to all public NETGeographicLib classes after the
+NETGeographic reference is added to MyApp.
+
+C# developers should add
+\code using NETGeographicLib; \endcode
+to any C# source file that uses NETGeographicLib.
+
+Managed C++ developers should add
+\code using namespace NETGeographicLib; \endcode
+to any C++ source that uses NETGeographicLib classes.
+
+Visual Basic developers should add
+\code Imports NETGeographicLib \endcode
+to any Visual Basic source that uses NETGeographicLib classes.
+
+\section sample C# Sample Application
+
+A C# sample application is provided that demonstrates NETGeographicLib classes.
+The source code for the sample application is located in
+\<install folder\>/GeographicLib-1.34/dotnet/Projections.  The sample
+application creates a tabbed dialog.  Each tab provides data entry fields that
+allow the user to exercise one or more NETGeographicLib classes.
+
+The following table lists the source code that demonstrates specific classes.
+<center>
+<TABLE>
+<TR><TH>Source File</TH><TH>Classes</TH></TR>
+<TR><TD>AccumPanel.cs</TD><TD>Accumulator</TD></TR>
+<TR><TD>AlbersPanel.cs</TD><TD>AlbersEqualArea, LambertConformalConic, TransverseMercator, TransverseMercatorExact</TD></TR>
+<TR><TD>EllipsoidPanel.cs</TD><TD>Ellipsoid</TD></TR>
+<TR><TD>EllipticPanel.cs</TD><TD>EllipticFunction</TD></TR>
+<TR><TD>GeocentricPanel.cs</TD><TD>Geocentric</TD></TR>
+<TR><TD>GeodesicPanel.cs</TD><TD>Geodesic, GeodesicLine, GeodesicExact, GeodesicLineExact</TD></TR>
+<TR><TD>GeoidPanel.cs</TD><TD>Geoid</TD></TR>
+<TR><TD>GravityPanel.cs</TD><TD>NormalGravity, GravityModel, GravityCircle</TD></TR>
+<TR><TD>LocalCartesianPanel.cs</TD><TD>LocalCartesian</TD></TR>
+<TR><TD>MagneticPanel.cs</TD><TD>MagneticModel, MagneticCircle</TD></TR>
+<TR><TD>MiscPanel.cs</TD><TD>DMS, Geohash</TD></TR>
+<TR><TD>PolarStereoPanel.cs</TD><TD>PolarStereographic</TD></TR>
+<TR><TD>PolyPanel.cs</TD><TD>PolygonArea</TD></TR>
+<TR><TD>ProjectionsPanel.cs</TD><TD>AzimuthalEquidistant, CassiniSoldner, Gnomonic</TD></TR>
+<TR><TD>SphericalHarmonicsPanel.cs</TD><TD>SphericalHarmonic, SphericalHarmonic1, SphericalHarmonic2, CircularEngine, SphericalCoefficients</TD></TR>
+<TR><TD>TypeIIIProjPanel.cs</TD><TD>UTMUPS, MGRS, OSGB</TD></TR>
+</TABLE>
+</center>
+
+\section netcmake Using cmake to build a Managed C++ Application
+
+The following assumes that you have installed %GeographicLib in one of
+two ways:
+- you have built and installed %GeographicLib using cmake with
+  <code>-D BUILD_NETGEOGRAPHICLIB=ON</code> (see
+  \ref cmake "Installation with cmake" in the %GeographicLib
+  documentation).  You can use any version of Visual Studio to build
+  %GeographicLib and should use the same version to build your
+  application.  You can build %GeographicLib as a shared library using
+  <code>-D GEOGRAPHICLIB_LIB_TYPE=SHARED</code> or <code>BOTH</code>.
+- you have installed %GeographicLib using one of the binary installers (see
+  \ref windowsbin "Using a binary installer for Windows" in the
+  %GeographicLib documentation).  In this case, you are restricted to using
+  Visual Studio 10.
+
+The minimum recommended version of cmake for use with NETGeographicLib
+is 2.8.7.  In order to build an application that uses NETGeographicLib
+with cmake, ask for the NETGeographicLib "component" of %GeographicLib
+using \verbatim
+find_package(GeographicLib COMPONENTS NETGeographicLib) \endverbatim
+If NETGeographicLib is found, then
+<code>GeographicLib_NETGeographicLib_FOUND</code> will be set to true and
+<code>GeographicLib_NETGeographicLib_LIBRARIES</code> will be set to the
+NETGeographic shared library.  This is the name of the cmake target from
+which the pathname of the dll can be obtained.
+
+Here is a very simple test code, which uses the
+NETGeographicLib::Geodesic class:
+\include example-Geodesic-small.cpp
+This example is
+<code>dotnet/examples/ManagedCPP/example-Geodesic-small.cpp</code>.
+
+Here is a complete CMakeList.txt files you can use to build this test
+code using the installed library: \verbatim
+project (geodesictest)
+cmake_minimum_required (VERSION 2.8.7) # required for VS_DOTNET_REFERENCES
+
+find_package (GeographicLib 1.34 REQUIRED COMPONENTS NETGeographicLib)
+
+add_executable (${PROJECT_NAME} example-Geodesic-small.cpp)
+set_target_properties (${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "/clr")
+string (REPLACE "/RTC1" "" CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}")
+string (REPLACE "/EHsc" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+
+# This is set up for Release builds only.  Change RELEASE to DEBUG for
+# Debug builds.
+get_target_property (_LOC "${GeographicLib_NETGeographicLib_LIBRARIES}"
+  IMPORTED_LOCATION_RELEASE)
+set_target_properties (${PROJECT_NAME} PROPERTIES VS_DOTNET_REFERENCES ${_LOC})
+
+get_target_property (_LIB "${GeographicLib_NETGeographicLib_LIBRARIES}"
+  IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE)
+get_target_property (_LIBTYPE ${_LIB} TYPE)
+if (_LIBTYPE STREQUAL "SHARED_LIBRARY")
+  # On Windows systems, copy the shared library to build directory
+  add_custom_command (TARGET ${PROJECT_NAME} POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E
+    copy $<TARGET_FILE:${_LIB}> ${CMAKE_CFG_INTDIR}
+    COMMENT "Copying shared library for GeographicLib")
+endif () \endverbatim
+The typical invocation of cmake is \verbatim
+mkdir BUILD
+cd BUILD
+cmake -G "Visual Studio 10" -D CMAKE_PREFIX_PATH=C:/pkg-vc10 ..
+cmake --build . --config Release \endverbatim
+The version of Visual Studio should match that used to build
+NETGeographicLib.  <b>NOTE:</b> With Visual Studio 10, this results in
+warnings such as \verbatim
+warning C4945: 'ExtensionAttribute' : cannot import symbol from ... \endverbatim
+which can be safely(?) ignored.
+
+Running the example with \verbatim
+Release\geodesictest.exe  \endverbatim
+should give \verbatim
+  5551.75940031868 km \endverbatim
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/geodesic-c.dox

@@ -0,0 +1,118 @@
+// -*- text -*-
+/**
+ * \file geodesic-c.dox
+ * \brief Documentation for geodesic routines implemented in C
+ *
+ * Written by Charles Karney <charles@karney.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage Geodesic routines implemented in C
+\author Charles F. F. Karney (charles@karney.com)
+\version 1.32
+
+\section abstract Abstract
+
+This is a C implementation of the geodesic algorithms from <a
+href="http://geographiclib.sf.net">GeographicLib</a>.  This is a
+self-contained library (requiring only the standard C math library)
+which makes it easy to do geodesic computations for an ellipsoid of
+revolution in a C program.  It uses ANSI C as described in
+B. W. Kernigan and D. M. Ritchie, The C Programming Language, 2nd
+Ed. (Prentice Hall, 1988), and so should compile correctly with just
+about any C compiler.
+
+\section download Downloading the source
+
+The C library is part of %GeographicLib which available for download at
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.32.tar.gz">
+  GeographicLib-1.32.tar.gz</a>
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.32.zip">
+  GeographicLib-1.32.zip</a>
+.
+as either a compressed tar file (tar.gz) or a zip file.  After unpacking
+the source, the C library can be found in GeographicLib-1.32/legacy/C.
+The library consists of two files geodesic.c and geodesic.h.
+
+The library is also included as part of
+<a href="http://trac.osgeo.org/proj/">proj.4</a> starting with version
+4.9.0, where is used as the computational backend for
+<a href="http://trac.osgeo.org/proj/wiki/man_geod">geod(1)</a>.
+Instructions for how to use the library via proj.4 are given below.
+
+\section doc Library documentation
+
+The interface to the library is documented via doxygen in the header
+file.  To access this, see geodesic.h.
+
+\section samples Sample programs
+
+Also included are 3 small test programs:
+ - direct.c is a simple command line utility for solving the
+   direct geodesic problem;
+ - inverse.c is a simple command line utility for solving the
+   inverse geodesic problem;
+ - planimeter.c is a simple command line utility for computing the
+   area of a geodesic polygon given its vertices.
+ .
+Here, for example, is inverse.c
+\include inverse.c
+To compile, link, and run this, you would typically use \verbatim
+cc -o inverse inverse.c geodesic.c -lm
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+These sample programs can also be built with the supplied cmake file,
+CMakeLists.txt, as follows \verbatim
+mkdir BUILD
+cd BUILD
+cmake ..
+make
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+
+Alternatively, if you have proj.4 installed, you can compile and link
+with \verbatim
+cc -c inverse.c
+cc -o inverse inverse.o -lproj
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+If proj.4 is installed, e.g., in /usr/local, you might have to use
+\verbatim
+cc -c -I/usr/local/include inverse.c
+cc -o inverse inverse.o -lproj -L/usr/local/lib -Wl,-rpath=/usr/local/lib
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+
+\section library Using the library
+
+- Put @verbatim
+  #include "geodesic.h" @endverbatim
+  in your source code.  If you are using the library via proj.4, change
+  this to @verbatim
+  #include <geodesic.h> @endverbatim
+- make calls to the geodesic routines from your code.  The interface to
+  the library is documented in geodesic.h.
+- Compile and link as described above.
+
+\section external External links
+
+- These algorithms are derived in C. F. F. Karney,
+  <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+  Algorithms for geodesics</a>,
+  J. Geodesy <b>87</b>, 43--55 (2013)
+  (<a href="http://geographiclib.sf.net/geod-addenda.html"> addenda</a>).
+- A longer paper on geodesics: C. F. F. Karney,
+   <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
+   on an ellipsoid of revolution</a>,
+   Feb. 2011
+   (<a href="http://geographiclib.sf.net/geod-addenda.html#geod-errata">
+   errata</a>).
+- <a href="http://geographiclib.sf.net">The GeographicLib web site</a>.
+- <a href="../index.html">The C++ library</a>.
+- <a href="../java/index.html">The Java library</a>.
+- <a href="../Fortran/index.html">The Fortran library</a>.
+- Documentation on the C++ classes: GeographicLib::Geodesic,
+  GeographicLib::GeodesicLine, GeographicLib::PolygonArea.
+- The section in the %GeographicLib documentation on geodesics: \ref
+  geodesic.
+- <a href="http://geographiclib.sf.net/geodesic-papers/biblio.html">
+  An online geodesic bibliography</a>.
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/geodesic-for.dox

@@ -0,0 +1,100 @@
+// -*- text -*-
+/**
+ * \file geodesic-for.dox
+ * \brief Documentation for geodesic routines implemented in Fortran
+ *
+ * Written by Charles Karney <charles@karney.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage Geodesic routines implemented in Fortran
+\author Charles F. F. Karney (charles@karney.com)
+\version 1.31
+
+\section abstract Abstract
+
+This is a Fortran implementation of the geodesic algorithms from <a
+href="http://geographiclib.sf.net">GeographicLib</a>.  This is a
+self-contained library which makes it easy to do geodesic computations
+for an ellipsoid of revolution in a Fortran program.  It is written in
+Fortran 77 (avoiding features which are now deprecated) and should
+compile correctly with just about any Fortran compiler.
+
+\section download Downloading the source
+
+The Fortran library is part of %GeographicLib which available for download at
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.31.tar.gz">
+  GeographicLib-1.31.tar.gz</a>
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.31.zip">
+  GeographicLib-1.31.zip</a>
+.
+as either a compressed tar file (tar.gz) or a zip file.  After unpacking
+the source, the Fortran library can be found in
+GeographicLib-1.31/legacy/Fortran.  The library consists of the file
+geodesic.for.
+
+\section doc Library documentation
+
+The interface to the library is documented via doxygen in the source
+file.  To access this, see geodesic.for.
+
+\section samples Sample programs
+
+Also included are 3 small test programs:
+ - geoddirect.for is a simple command line utility for solving the
+   direct geodesic problem;
+ - geodinverse.for is a simple command line utility for solving the
+   inverse geodesic problem;
+ - planimeter.for is a simple command line utility for computing the
+   area of a geodesic polygon given its vertices.
+ .
+Here, for example, is geodinverse.for
+\include geodinverse.for
+To compile, link, and run this, you would typically use \verbatim
+f95 -o geodinverse geodinverse.for geodesic.for
+echo 30 0 29.5 179.5 | ./geodinverse \endverbatim
+These sample programs can also be built with the supplied cmake file,
+CMakeLists.txt, as follows \verbatim
+mkdir BUILD
+cd BUILD
+cmake ..
+make
+echo 30 0 29.5 179.5 | ./geodinverse \endverbatim
+
+\section library Using the library
+
+- Optionall put @verbatim
+  include "geodesic.inc" @endverbatim
+  in declaration section of your subroutines.
+- make calls to the geodesic routines from your code.  The interface to
+  the library is documented in geodesic.for.
+- Compile and link as described above.
+
+\section external External links
+
+- These algorithms are derived in C. F. F. Karney,
+  <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+  Algorithms for geodesics</a>,
+  J. Geodesy <b>87</b>, 43--55 (2013)
+  (<a href="http://geographiclib.sf.net/geod-addenda.html"> addenda</a>).
+- A longer paper on geodesics: C. F. F. Karney,
+   <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
+   on an ellipsoid of revolution</a>,
+   Feb. 2011
+   (<a href="http://geographiclib.sf.net/geod-addenda.html#geod-errata">
+   errata</a>).
+- <a href="http://geographiclib.sf.net">The GeographicLib web site</a>.
+- <a href="../index.html">The C++ library</a>.
+- <a href="../C/index.html">The C library</a>.
+- <a href="../java/index.html">The Java library</a>.
+- Documentation on the C++ classes: GeographicLib::Geodesic,
+  GeographicLib::GeodesicLine, GeographicLib::PolygonArea.
+- The section in the %GeographicLib documentation on geodesics: \ref
+  geodesic.
+- <a href="http://geographiclib.sf.net/geodesic-papers/biblio.html">
+  An online geodesic bibliography</a>.
+**********************************************************************/
+
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/index.html.in

@@ -0,0 +1,24 @@
+<html>
+  <head>
+    <title>GeographicLib-@PROJECT_VERSION@ documentation</title>
+    <meta HTTP-EQUIV="Refresh"
+	  CONTENT="0; URL=http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html">
+  </head>
+  <body topmargin=10 leftmargin=10>
+    <h3>
+      <blockquote>
+	<em>
+	  Online documentation for GeographicLib version
+	  @PROJECT_VERSION@ is available at
+	  <center>
+	    <a href="http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html">
+	      http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html</a>.
+	  </center>
+	  <br>
+	  You will be redirected there.  Click on the link to go there
+	  directly.
+	</em>
+      </blockquote>
+    </h3>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/DMS.js

@@ -0,0 +1,364 @@
+/**
+ * DMS.js
+ * Transcription of DMS.[ch]pp into JavaScript.
+ *
+ * See the documentation for the C++ class.  The conversion is a literal
+ * conversion from C++.
+ *
+ * Copyright (c) Charles Karney (2011) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+GeographicLib.DMS = {};
+
+(function() {
+  var d = GeographicLib.DMS;
+  var m = GeographicLib.Math;
+  d.lookup = function(s, c) {
+    return s.indexOf(c.toUpperCase());
+  }
+  d.zerofill = function(s, n) {
+    return String("0000").substr(0, Math.max(0, Math.min(4, n-s.length))) +
+      s;
+  }
+  d.hemispheres_ = "SNWE";
+  d.signs_ = "-+";
+  d.digits_ = "0123456789";
+  d.dmsindicators_ = "D'\":";
+  // d.dmsindicatorsu_ = "\u00b0\u2032\u2033"; // Unicode variants
+  d.dmsindicatorsu_ = "\u00b0'\""; // Use degree symbol
+  d.components_ = ["degrees", "minutes", "seconds"];
+  d.NONE = 0;
+  d.LATITUDE = 1;
+  d.LONGITUDE = 2;
+  d.AZIMUTH = 3;
+  d.NUMBER = 4;
+  d.DEGREE = 0;
+  d.MINUTE = 1;
+  d.SECOND = 2;
+
+  // return val, ind
+  d.Decode = function(dms) {
+    var vals = {};
+    var errormsg = new String("");
+    var dmsa = dms;
+    dmsa = dmsa.replace(/\u00b0/g, 'd');
+    dmsa = dmsa.replace(/\u00ba/g, 'd');
+    dmsa = dmsa.replace(/\u2070/g, 'd');
+    dmsa = dmsa.replace(/\u02da/g, 'd');
+    dmsa = dmsa.replace(/\u2032/g, '\'');
+    dmsa = dmsa.replace(/\u00b4/g, '\'');
+    dmsa = dmsa.replace(/\u2019/g, '\'');
+    dmsa = dmsa.replace(/\u2033/g, '"');
+    dmsa = dmsa.replace(/\u201d/g, '"');
+    dmsa = dmsa.replace(/''/g, '"');
+    dmsa = dmsa.replace(/^\s+/, "");
+    dmsa = dmsa.replace(/\s+$/, "");
+    do {                       // Executed once (provides the ability to break)
+      var sign = 1;
+      var beg = 0, end = dmsa.length;
+      var ind1 = d.NONE;
+      var k = -1;
+      if (end > beg && (k = d.lookup(d.hemispheres_, dmsa.charAt(beg))) >= 0) {
+        ind1 = (k & 2) ? d.LONGITUDE : d.LATITUDE;
+        sign = (k & 1) ? 1 : -1;
+        ++beg;
+      }
+      if (end > beg &&
+          (k = d.lookup(d.hemispheres_, dmsa.charAt(end-1))) >= 0) {
+        if (k >= 0) {
+          if (ind1 != d.NONE) {
+            if (dmsa.charAt(beg - 1).toUpperCase() ==
+                dmsa.charAt(end - 1).toUpperCase())
+              errormsg = "Repeated hemisphere indicators " +
+              dmsa.charAt(beg - 1) + " in " +
+              dmsa.substr(beg - 1, end - beg + 1);
+            else
+              errormsg = "Contradictory hemisphere indicators " +
+              dmsa.charAt(beg - 1) + " and " + dmsa.charAt(end - 1) + " in " +
+              dmsa.substr(beg - 1, end - beg + 1);
+            break;
+          }
+          ind1 = (k & 2) ? d.LONGITUDE : d.LATITUDE;
+          sign = (k & 1) ? 1 : -1;
+          --end;
+        }
+      }
+      if (end > beg && (k = d.lookup(d.signs_, dmsa.charAt(beg))) >= 0) {
+        if (k >= 0) {
+          sign *= k ? 1 : -1;
+          ++beg;
+        }
+      }
+      if (end == beg) {
+        errormsg = "Empty or incomplete DMS string " + dmsa;
+        break;
+      }
+      var ipieces = [0, 0, 0];
+      var fpieces = [0, 0, 0];
+      var npiece = 0;
+      var icurrent = 0;
+      var fcurrent = 0;
+      var ncurrent = 0, p = beg;
+      var pointseen = false;
+      var digcount = 0;
+      var intcount = 0;
+      while (p < end) {
+        var x = dmsa.charAt(p++);
+        if ((k = d.lookup(d.digits_, x)) >= 0) {
+          ++ncurrent;
+          if (digcount > 0)
+            ++digcount;         // Count of decimal digits
+          else {
+            icurrent = 10 * icurrent + k;
+            ++intcount;
+          }
+        } else if (x == '.') {
+          if (pointseen) {
+            errormsg = "Multiple decimal points in "
+              + dmsa.substr(beg, end - beg);
+            break;
+          }
+          pointseen = true;
+          digcount = 1;
+        } else if ((k = d.lookup(d.dmsindicators_, x)) >= 0) {
+          if (k >= 3) {
+            if (p == end) {
+              errormsg = "Illegal for : to appear at the end of " +
+                dmsa.substr(beg, end - beg);
+              break;
+            }
+            k = npiece;
+          }
+          if (k == npiece - 1) {
+            errormsg = "Repeated " + d.components_[k] +
+              " component in " + dmsa.substr(beg, end - beg);
+            break;
+          } else if (k < npiece) {
+            errormsg = d.components_[k] + " component follows "
+              + d.components_[npiece - 1] + " component in "
+              + dmsa.substr(beg, end - beg);
+            break;
+          }
+          if (ncurrent == 0) {
+            errormsg = "Missing numbers in " + d.components_[k] +
+              " component of " + dmsa.substr(beg, end - beg);
+            break;
+          }
+          if (digcount > 1) {
+            fcurrent = parseFloat(dmsa.substr(p - intcount - digcount - 1,
+                                              intcount + digcount));
+            icurrent = 0;
+          }
+          ipieces[k] = icurrent;
+          fpieces[k] = icurrent + fcurrent;
+          if (p < end) {
+            npiece = k + 1;
+            icurrent = fcurrent = 0;
+            ncurrent = digcount = intcount = 0;
+          }
+        } else if (d.lookup(d.signs_, x) >= 0) {
+          errormsg = "Internal sign in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        } else {
+          errormsg = "Illegal character " + x + " in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+      }
+      if (errormsg.length)
+        break;
+      if (d.lookup(d.dmsindicators_, dmsa.charAt(p - 1)) < 0) {
+        if (npiece >= 3) {
+          errormsg = "Extra text following seconds in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+        if (ncurrent == 0) {
+          errormsg = "Missing numbers in trailing component of "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+        if (digcount > 1) {
+          fcurrent = parseFloat(dmsa.substr(p - intcount - digcount,
+                                            intcount + digcount));
+          icurrent = 0;
+        }
+        ipieces[npiece] = icurrent;
+        fpieces[npiece] = icurrent + fcurrent;
+      }
+      if (pointseen && digcount == 0) {
+        errormsg = "Decimal point in non-terminal component of "
+          + dmsa.substr(beg, end - beg);
+        break;
+      }
+      // Note that we accept 59.999999... even though it rounds to 60.
+      if (ipieces[1] >= 60) {
+        errormsg = "Minutes " + fpieces[1] + " not in range [0, 60)";
+        break;
+      }
+      if (ipieces[2] >= 60) {
+        errormsg = "Seconds " + fpieces[2] + " not in range [0, 60)";
+        break;
+      }
+      vals.ind = ind1;
+      // Assume check on range of result is made by calling routine (which
+      // might be able to offer a better diagnostic).
+      vals.val = sign * (fpieces[0] + (fpieces[1] + fpieces[2] / 60) / 60);
+      return vals;
+    } while (false);
+    vals.val = d.NumMatch(dmsa);
+    if (vals.val == 0)
+      throw new Error(errormsg);
+    else
+      vals.ind = d.NONE;
+    return vals;
+  }
+
+  d.NumMatch = function(s) {
+    if (s.length < 3)
+      return 0;
+    var t = s.toUpperCase().replace(/0+$/,"");
+    var sign = t.charAt(0) == '-' ? -1 : 1;
+    var p0 = t.charAt(0) == '-' || t.charAt(0) == '+' ? 1 : 0;
+    var p1 = t.length - 1;
+    if (p1 + 1 < p0 + 3)
+      return 0;
+    // Strip off sign and trailing 0s
+    t = t.substr(p0, p1 + 1 - p0); // Length at least 3
+    if (t == "NAN" || t == "1.#QNAN" || t == "1.#SNAN" || t == "1.#IND" ||
+        t == "1.#R")
+      return sign * Number.NaN;
+    else if (t == "INF" || t == "1.#INF")
+      return sign * Number.POSITIVE_INFINITY;
+    return 0;
+  }
+
+  // return lat, lon
+  d.DecodeLatLon = function(stra, strb, swaplatlong) {
+    var vals = {};
+    if (!swaplatlong) swaplatlong = false;
+    var valsa = d.Decode(stra);
+    var valsb = d.Decode(strb);
+    var a = valsa.val, ia = valsa.ind;
+    var b = valsb.val, ib = valsb.ind;
+    if (ia == d.NONE && ib == d.NONE) {
+      // Default to lat, long unless swaplatlong
+      ia = swaplatlong ? d.LONGITUDE : d.LATITUDE;
+      ib = swaplatlong ? d.LATITUDE : d.LONGITUDE;
+    } else if (ia == d.NONE)
+      ia = d.LATITUDE + d.LONGITUDE - ib;
+    else if (ib == d.NONE)
+      ib = d.LATITUDE + d.LONGITUDE - ia;
+    if (ia == ib)
+      throw new Error("Both " + stra + " and "
+                      + strb + " interpreted as "
+                      + (ia == d.LATITUDE ? "latitudes" : "longitudes"));
+    var lat = ia == d.LATITUDE ? a : b, lon = ia == d.LATITUDE ? b : a;
+    if (Math.abs(lat) > 90)
+      throw new Error("Latitude " + lat + "d not in [-90d, 90d]");
+    if (lon < -540 || lon >= 540)
+      throw new Error("Latitude " + lon + "d not in [-540d, 540d)");
+    lon = m.AngNormalize(lon);
+    vals.lat = lat;
+    vals.lon = lon;
+    return vals;
+  }
+
+  d.DecodeAngle = function(angstr) {
+    var vals = d.Decode(angstr);
+    var ang = vals.val, ind = vals.ind;
+    if (ind != d.NONE)
+      throw new Error("Arc angle " + angstr
+                      + " includes a hemisphere, N/E/W/S");
+    return ang;
+  }
+
+  d.DecodeAzimuth = function(azistr) {
+    var vals = d.Decode(azistr);
+    var azi = vals.val, ind = vals.ind;
+    if (ind == d.LATITUDE)
+      throw new Error("Azimuth " + azistr
+                      + " has a latitude hemisphere, N/S");
+    if (azi < -540 || azi >= 540)
+      throw new Error("Azimuth " + azistr + " not in range [-540d, 540d)");
+    azi = m.AngNormalize(azi);
+    return azi;
+  }
+
+  d.Encode = function(angle, trailing, prec, ind) {
+    // Assume check on range of input angle has been made by calling
+    // routine (which might be able to offer a better diagnostic).
+    if (!ind) ind = d.NONE;
+    if (!isFinite(angle))
+      return angle < 0 ? String("-inf") :
+      (angle > 0 ? String("inf") : String("nan"));
+
+    // 15 - 2 * trailing = ceiling(log10(2^53/90/60^trailing)).
+    // This suffices to give full real precision for numbers in [-90,90]
+    prec = Math.min(15 - 2 * trailing, prec);
+    var scale = 1, i;
+    for (i = 0; i < trailing; ++i)
+      scale *= 60;
+    for (i = 0; i < prec; ++i)
+      scale *= 10;
+    if (ind == d.AZIMUTH)
+      angle -= Math.floor(angle/360) * 360;
+    var sign = angle < 0 ? -1 : 1;
+    angle *= sign;
+
+    // Break off integer part to preserve precision in manipulation of
+    // fractional part.
+    var
+    idegree = Math.floor(angle),
+    fdegree = Math.floor((angle - idegree) * scale + 0.5) / scale;
+    if (fdegree >= 1) {
+      idegree += 1;
+      fdegree -= 1;
+    }
+    var pieces = [fdegree, 0, 0];
+    for (i = 1; i <= trailing; ++i) {
+      var
+      ip = Math.floor(pieces[i - 1]),
+      fp = pieces[i - 1] - ip;
+      pieces[i] = fp * 60;
+      pieces[i - 1] = ip;
+    }
+    pieces[0] += idegree;
+    var s = new String("");
+    if (ind == d.NONE && sign < 0)
+      s += '-';
+    switch (trailing) {
+    case d.DEGREE:
+      s += d.zerofill(pieces[0].toFixed(prec),
+                      ind == d.NONE ? 0 :
+                      1 + Math.min(ind, 2) + prec + (prec ? 1 : 0)) +
+        d.dmsindicatorsu_.charAt(0);
+      break;
+    default:
+      s += d.zerofill(pieces[0].toFixed(0),
+                      ind == d.NONE ? 0 : 1 + Math.min(ind, 2)) +
+        d.dmsindicatorsu_.charAt(0);
+      switch (trailing) {
+      case d.MINUTE:
+        s += d.zerofill(pieces[1].toFixed(prec), 2 + prec + (prec ? 1 : 0)) +
+          d.dmsindicatorsu_.charAt(1);
+        break;
+      case d.SECOND:
+        s += d.zerofill(pieces[1].toFixed(0), 2) + d.dmsindicatorsu_.charAt(1);
+        s += d.zerofill(pieces[2].toFixed(prec), 2 + prec + (prec ? 1 : 0)) +
+          d.dmsindicatorsu_.charAt(2);
+        break;
+      default:
+        break;
+      }
+    }
+    if (ind != d.NONE && ind != d.AZIMUTH)
+      s += d.hemispheres_.charAt((ind == d.LATITUDE ? 0 : 2) +
+                                 (sign < 0 ? 0 : 1));
+    return s;
+  }
+
+})();