Merge branch 'develop' into hybrid-timing

cmake/HandleGeneralOptions.cmake

@@ -21,12 +21,13 @@ if (NOT MSVC)
 endif()
 
 # Configurable Options
+option(BUILD_SHARED_LIBS                     "Build shared libraries" ON)
 if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
     option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
     option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
 endif()
-option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
+option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
 option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
@@ -48,7 +49,9 @@ option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
 option(GTSAM_SLOW_BUT_CORRECT_EXPMAP        "Use slower but correct expmap for Pose2"  OFF)
 
-if (GTSAM_FORCE_SHARED_LIB)
+if (GTSAM_FORCE_SHARED_LIB AND GTSAM_FORCE_STATIC_LIB)
+    message(FATAL_ERROR "GTSAM_FORCE_SHARED_LIB and GTSAM_FORCE_STATIC_LIB are both true. Please, to unambiguously select the desired library type to use to build GTSAM, set one of GTSAM_FORCE_SHARED_LIB=ON, GTSAM_FORCE_STATIC_LIB=ON, or BUILD_SHARED_LIBS={ON/OFF}")
+elseif (GTSAM_FORCE_SHARED_LIB)
     message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")
     set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE)
     set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE)
@@ -57,10 +60,9 @@ elseif (GTSAM_FORCE_STATIC_LIB)
     set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE)
     set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE)
 elseif (BUILD_SHARED_LIBS)
-    message(STATUS "GTSAM is a shared library due to BUILD_SHARED_LIBS is ON")
     set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE)
     set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE)
-elseif((DEFINED BUILD_SHARED_LIBS) AND (NOT BUILD_SHARED_LIBS))
+elseif(NOT BUILD_SHARED_LIBS)
     message(STATUS "GTSAM is a static library due to BUILD_SHARED_LIBS is OFF")
     set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE)
     set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE)

gtsam/3rdparty/metis/libmetis/CMakeLists.txt

@@ -13,7 +13,8 @@ if(WIN32)
 		set_target_properties(metis-gtsam PROPERTIES
 			PREFIX ""
 			COMPILE_FLAGS /w
-			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
+			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin"
+			WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 
 if (APPLE)

gtsam/base/concepts.h

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #include <boost/concept_check.hpp>
 #include <boost/concept/assert.hpp>
 #include <boost/concept/requires.hpp>

gtsam/base/tests/testMatrix.cpp

@@ -1151,7 +1151,7 @@ TEST(Matrix, Matrix24IsVectorSpace) {
 }
 
 TEST(Matrix, RowMajorIsVectorSpace) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   typedef Eigen::Matrix<double, 2, 3, Eigen::RowMajor> RowMajor;
   GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowMajor>);
 #endif
@@ -1166,7 +1166,7 @@ TEST(Matrix, VectorIsVectorSpace) {
 }
 
 TEST(Matrix, RowVectorIsVectorSpace) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   typedef Eigen::Matrix<double, 1, -1> RowVector;
   GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
   GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector5>);

gtsam/base/tests/testVector.cpp

@@ -272,7 +272,7 @@ TEST(Vector, VectorIsVectorSpace) {
 }
 
 TEST(Vector, RowVectorIsVectorSpace) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   typedef Eigen::Matrix<double,1,-1> RowVector;
   GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
 #endif

gtsam/base/timing.cpp

@@ -59,7 +59,7 @@ void TimingOutline::add(size_t usecs, size_t usecsWall) {
 TimingOutline::TimingOutline(const std::string& label, size_t id) :
     id_(id), t_(0), tWall_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), myOrder_(
         0), lastChildOrder_(0), label_(label) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
   timer_.stop();
 #endif
@@ -68,7 +68,7 @@ TimingOutline::TimingOutline(const std::string& label, size_t id) :
 
 /* ************************************************************************* */
 size_t TimingOutline::time() const {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   size_t time = 0;
   bool hasChildren = false;
   for(const ChildMap::value_type& child: children_) {
@@ -86,7 +86,7 @@ size_t TimingOutline::time() const {
 
 /* ************************************************************************* */
 void TimingOutline::print(const std::string& outline) const {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   std::string formattedLabel = label_;
   std::replace(formattedLabel.begin(), formattedLabel.end(), '_', ' ');
   std::cout << outline << "-" << formattedLabel << ": " << self() << " CPU ("
@@ -157,7 +157,7 @@ void TimingOutline::printCsv(bool addLineBreak) const {
 
 void TimingOutline::print2(const std::string& outline,
     const double parentTotal) const {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   const int w1 = 24, w2 = 2, w3 = 6, w4 = 8, precision = 2;
   const double selfTotal = self(), selfMean = selfTotal / double(n_);
   const double childTotal = secs();
@@ -202,7 +202,7 @@ void TimingOutline::print2(const std::string& outline,
 /* ************************************************************************* */
 const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
     const std::string& label, const std::weak_ptr<TimingOutline>& thisPtr) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   assert(thisPtr.lock().get() == this);
   std::shared_ptr<TimingOutline>& result = children_[child];
   if (!result) {
@@ -221,7 +221,7 @@ const std::shared_ptr<TimingOutline>& TimingOutline::child(size_t child,
 /* ************************************************************************* */
 void TimingOutline::tic() {
 // Disable this entire function if we are not using boost
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
   assert(timer_.is_stopped());
   timer_.start();
@@ -240,7 +240,7 @@ void TimingOutline::tic() {
 /* ************************************************************************* */
 void TimingOutline::toc() {
 // Disable this entire function if we are not using boost
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
 
@@ -274,7 +274,7 @@ void TimingOutline::toc() {
 
 /* ************************************************************************* */
 void TimingOutline::finishedIteration() {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   if (tIt_ > tMax_)
     tMax_ = tIt_;
   if (tMin_ == 0 || tIt_ < tMin_)
@@ -289,7 +289,7 @@ void TimingOutline::finishedIteration() {
 /* ************************************************************************* */
 size_t getTicTocID(const char *descriptionC) {
 // disable anything which refers to TimingOutline as well, for good measure
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   const std::string description(descriptionC);
   // Global (static) map from strings to ID numbers and current next ID number
   static size_t nextId = 0;
@@ -312,7 +312,7 @@ size_t getTicTocID(const char *descriptionC) {
 /* ************************************************************************* */
 void tic(size_t id, const char *labelC) {
 // disable anything which refers to TimingOutline as well, for good measure
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   const std::string label(labelC);
   std::shared_ptr<TimingOutline> node = //
       gCurrentTimer.lock()->child(id, label, gCurrentTimer);
@@ -324,7 +324,7 @@ void tic(size_t id, const char *labelC) {
 /* ************************************************************************* */
 void toc(size_t id, const char *labelC) {
 // disable anything which refers to TimingOutline as well, for good measure
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
   const std::string label(labelC);
   std::shared_ptr<TimingOutline> current(gCurrentTimer.lock());
   if (id != current->id_) {

gtsam/base/timing.h

@@ -21,7 +21,7 @@
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h> // for GTSAM_USE_TBB
 
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #include <boost/version.hpp>
 #endif
 
@@ -107,7 +107,7 @@
 //   have matching gttic/gttoc statments.  You may want to consider reorganizing your timing
 //   outline to match the scope of your code.
 
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 // Automatically use the new Boost timers if version is recent enough.
 #if BOOST_VERSION >= 104800
 #  ifndef GTSAM_DISABLE_NEW_TIMERS
@@ -165,7 +165,7 @@ namespace gtsam {
       ChildMap children_; ///< subtrees
 
 // disable all timers if not using boost
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
       boost::timer::cpu_timer timer_;
 #else
@@ -183,7 +183,7 @@ namespace gtsam {
       GTSAM_EXPORT TimingOutline(const std::string& label, size_t myId);
       GTSAM_EXPORT size_t time() const; ///< time taken, including children
       double secs() const { return double(time()) / 1000000.0;} ///< time taken, in seconds, including children
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
       double self() const { return double(t_)     / 1000000.0;} ///< self time only, in seconds
       double wall() const { return double(tWall_) / 1000000.0;} ///< wall time, in seconds
       double min()  const { return double(tMin_)  / 1000000.0;} ///< min time, in seconds

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -112,13 +112,12 @@ namespace gtsam {
 //  }
 
   /**
-   * @brief Multiply all the `factors` and normalize the
+   * @brief Multiply all the `factors`.
-   * product to prevent underflow.
    *
    * @param factors The factors to multiply as a DiscreteFactorGraph.
    * @return DecisionTreeFactor
    */
-  static DecisionTreeFactor ProductAndNormalize(
+  static DecisionTreeFactor DiscreteProduct(
       const DiscreteFactorGraph& factors) {
     // PRODUCT: multiply all factors
 #if GTSAM_HYBRID_TIMING
@@ -129,14 +128,14 @@ namespace gtsam {
     gttoc_(DiscreteProduct);
 #endif
 
-    // Max over all the potentials by pretending all keys are frontal:
-    auto normalizer = product.max(product.size());
-
 #if GTSAM_HYBRID_TIMING
     gttic_(DiscreteNormalize);
 #endif
+    // Max over all the potentials by pretending all keys are frontal:
+    auto denominator = product.max(product.size());
+
     // Normalize the product factor to prevent underflow.
-    product = product / (*normalizer);
+    product = product / (*denominator);
 #if GTSAM_HYBRID_TIMING
     gttoc_(DiscreteNormalize);
 #endif
@@ -149,7 +148,7 @@ namespace gtsam {
   std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>  //
   EliminateForMPE(const DiscreteFactorGraph& factors,
                   const Ordering& frontalKeys) {
-    DecisionTreeFactor product = ProductAndNormalize(factors);
+    DecisionTreeFactor product = DiscreteProduct(factors);
 
     // max out frontals, this is the factor on the separator
     gttic(max);
@@ -227,7 +226,7 @@ namespace gtsam {
   std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>  //
   EliminateDiscrete(const DiscreteFactorGraph& factors,
                     const Ordering& frontalKeys) {
-    DecisionTreeFactor product = ProductAndNormalize(factors);
+    DecisionTreeFactor product = DiscreteProduct(factors);
 
     // sum out frontals, this is the factor on the separator
 #if GTSAM_HYBRID_TIMING

gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -26,7 +26,7 @@
 #include <gtsam/linear/linearExceptions.h>
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/base/Vector.h>
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #include <gtsam/base/timing.h>
 #endif
 
@@ -123,7 +123,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
   auto currentState = static_cast<const State*>(state_.get());
   bool verbose = (params_.verbosityLM >= LevenbergMarquardtParams::TRYLAMBDA);
 
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
   boost::timer::cpu_timer lamda_iteration_timer;
   lamda_iteration_timer.start();
@@ -222,7 +222,7 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
   } // if (systemSolvedSuccessfully)
 
   if (params_.verbosityLM == LevenbergMarquardtParams::SUMMARY) {
-#ifdef GTSAM_USE_BOOST_FEATURES
+#if GTSAM_USE_BOOST_FEATURES
 // do timing
 #ifdef GTSAM_USING_NEW_BOOST_TIMERS
     double iterationTime = 1e-9 * lamda_iteration_timer.elapsed().wall;