Syntax Error with VS2019 in several headers

[laxnpander]

Describe the bug
Sophus is not building under Windows 10 MSVC2019 with the following cmake command:

cmake .. -DSOPHUS_USE_BASIC_LOGGING=ON -DBUILD_SOPHUS_TESTS=ON -DBUILD_SOPHUS_EXAMPLES=ON

due to the following error:

error C2059: syntax error: ')'

in several files, among these files:

interpolate.hpp(30,1)
so3.hpp(725,1)
geometry.hpp(71,1)
...

To Reproduce

1. Use Windows 10, install MSVC2019
2. Clone this repo
3. Build with above cmake command

Expected behavior

It should build without error.

Sophus version: commit hash

Latest commit: 8e19416

Additional context

Seems to be related to SOPHUS_ENSURE(...)

Edit: 0422cad seems to be working fine.

[nachovizzo]

I'm also facing this issue :

-- Building for: Visual Studio 17 2022
-- Selecting Windows SDK version 10.0.19041.0 to target Windows 10.0.19045.
-- The C compiler identification is MSVC 19.33.31630.0
-- The CXX compiler identification is MSVC 19.33.31630.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: C:/Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/MSVC/14.33.31629/bin/Hostx64/x64/cl.exe - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: C:/Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/MSVC/14.33.31629/bin/Hostx64/x64/cl.exe - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- CMake version: 3.25.2
-- Found Eigen3: C:/Program Files/eigen3 (Required is at least version "3.3.0")
-- Turning basic logging ON
-- Configuring done
-- Generating done
-- Build files have been written to: C:/Users/ivizzo/Desktop/Sophus/build

and the build log:

MSBuild version 17.3.1+2badb37d1 for .NET Framework
  Checking Build System
  Building Custom Rule C:/Users/ivizzo/Desktop/Sophus/examples/CMakeLists.txt
  HelloSO3.cpp
C:\Users\ivizzo\Desktop\Sophus\sophus\so3.hpp(725,1): error C2059: syntax error: ',' [C:\Users\ivizzo\Desktop\Sophus\bu
ild\examples\HelloSO3.vcxproj]
C:\Users\ivizzo\Desktop\Sophus\sophus\so3.hpp(695): message : while compiling class template member function 'Sophus::S
O3<double,0> Sophus::SO3<double,0>::expAndTheta(const Eigen::Matrix<double,3,1,0,3,1> &,double *)' [C:\Users\ivizzo\Des
ktop\Sophus\build\examples\HelloSO3.vcxproj]

...

[nachovizzo]

This is a duplicate of #436

[strasdat]

Closing, see #436 - also windows is not officially supported until somebody donates a PR with windows CI coverage.