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Merge pull request #850 from borglab/feature/cleanup 

Some Cleanup
release/4.3a0
Frank Dellaert 2021-08-22 11:17:55 -04:00 committed by GitHub
parent 57bdf33f6e 713df3ce86
commit 086e1a12aa
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9 changed files with 30 additions and 39 deletions
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2
DEVELOP.md
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@ -17,3 +17,5 @@ class GTSAM_EXPORT MyClass { ... };
GTSAM_EXPORT myFunction(); GTSAM_EXPORT myFunction();
``` ```
More details [here](Using-GTSAM-EXPORT.md).

4
INSTALL.md
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@ -13,7 +13,7 @@ $ make install
## Important Installation Notes ## Important Installation Notes
1. GTSAM requires the following libraries to be installed on your system: 1. GTSAM requires the following libraries to be installed on your system:
- BOOST version 1.58 or greater (install through Linux repositories or MacPorts) - BOOST version 1.65 or greater (install through Linux repositories or MacPorts)
- Cmake version 3.0 or higher - Cmake version 3.0 or higher
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
@ -70,7 +70,7 @@ execute commands as follows for an out-of-source build:
- When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating: - When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating:
- Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`. - Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`.
- Use of Boost version < 1.67 with clang will give a segfault for mulitple test cases. - Use of Boost version < 1.65 with clang will give a segfault for mulitple test cases.
- MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier). - MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier).
# Windows Installation # Windows Installation

12
README.md
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@ -40,7 +40,7 @@ $ make install
Prerequisites: Prerequisites:
- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`)
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
- A modern compiler, i.e., at least gcc 4.7.3 on Linux. - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
@ -55,9 +55,9 @@ Optional prerequisites - used automatically if findable by CMake:
GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods. GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods.
GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
## Wrappers ## Wrappers
@ -68,16 +68,16 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md)
GTSAM includes a state of the art IMU handling scheme based on GTSAM includes a state of the art IMU handling scheme based on
- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) - Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505)
Our implementation improves on this using integration on the manifold, as detailed in Our implementation improves on this using integration on the manifold, as detailed in
- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) - Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) - Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
If you are using the factor in academic work, please cite the publications above. If you are using the factor in academic work, please cite the publications above.
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF.
## Additional Information ## Additional Information

2
Using-GTSAM-EXPORT.md
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@ -10,7 +10,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need
3. If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations. (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.) 3. If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations. (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.)
## When is GTSAM_EXPORT being used incorrectly ## When is GTSAM_EXPORT being used incorrectly
Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in gtsam/base will often show up when compiling the check_base_program or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like: Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like:
``` ```
Error LNK2019 unresolved external symbol "public: void __cdecl gtsam::SO3::print(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)const " (?print@SO3@gtsam@@QEBAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: static void __cdecl gtsam::Testable<class gtsam::SO3>::Print(class gtsam::SO3 const &,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)" (?Print@?$Testable@VSO3@gtsam@@@gtsam@@SAXAEBVSO3@2@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) check_geometry_program C:\AFIT\lib\gtsam\build\gtsam\geometry\tests\testSO3.obj Error LNK2019 unresolved external symbol "public: void __cdecl gtsam::SO3::print(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)const " (?print@SO3@gtsam@@QEBAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: static void __cdecl gtsam::Testable<class gtsam::SO3>::Print(class gtsam::SO3 const &,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)" (?Print@?$Testable@VSO3@gtsam@@@gtsam@@SAXAEBVSO3@2@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) check_geometry_program C:\AFIT\lib\gtsam\build\gtsam\geometry\tests\testSO3.obj

4
cmake/HandleBoost.cmake
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@ -22,7 +22,7 @@ endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
set(BOOST_FIND_MINIMUM_VERSION 1.58) set(BOOST_FIND_MINIMUM_VERSION 1.65)
set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
@ -30,7 +30,7 @@ find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM
# Required components # Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.") message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
endif() endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)

2
cmake/HandleCPack.cmake
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@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION
# Deb-package specific cpack # Deb-package specific cpack
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.65)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")

21
gtsam/base/base.i
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@ -33,13 +33,13 @@ class IndexPair {
size_t j() const; size_t j() const;
}; };
// template<KEY = {gtsam::IndexPair}> template<KEY = {gtsam::IndexPair}>
// class DSFMap { class DSFMap {
// DSFMap(); DSFMap();
// KEY find(const KEY& key) const; KEY find(const KEY& key) const;
// void merge(const KEY& x, const KEY& y); void merge(const KEY& x, const KEY& y);
// std::map<KEY, Set> sets(); std::map<KEY, Set> sets();
// }; };
class IndexPairSet { class IndexPairSet {
IndexPairSet(); IndexPairSet();
@ -81,13 +81,6 @@ class IndexPairSetMap {
gtsam::IndexPairSet at(gtsam::IndexPair& key); gtsam::IndexPairSet at(gtsam::IndexPair& key);
}; };
class DSFMapIndexPair {
DSFMapIndexPair();
gtsam::IndexPair find(const gtsam::IndexPair& key) const;
void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y);
gtsam::IndexPairSetMap sets();
};
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
bool linear_independent(Matrix A, Matrix B, double tol); bool linear_independent(Matrix A, Matrix B, double tol);

14
gtsam/nonlinear/NonlinearEquality.h
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@ -66,12 +66,9 @@ private:
public: public:
/** /// Function that compares two values.
* Function that compares two values using CompareFunction = std::function<bool(const T&, const T&)>;
*/
typedef std::function<bool(const T&, const T&)> CompareFunction;
CompareFunction compare_; CompareFunction compare_;
// bool (*compare_)(const T& a, const T& b);
/// Default constructor - only for serialization /// Default constructor - only for serialization
NonlinearEquality() { NonlinearEquality() {
@ -199,8 +196,7 @@ private:
// \class NonlinearEquality // \class NonlinearEquality
template <typename VALUE> template <typename VALUE>
struct traits<NonlinearEquality<VALUE> > : Testable<NonlinearEquality<VALUE> > { struct traits<NonlinearEquality<VALUE>> : Testable<NonlinearEquality<VALUE>> {};
};
/* ************************************************************************* */ /* ************************************************************************* */
/** /**
@ -286,8 +282,8 @@ private:
// \NonlinearEquality1 // \NonlinearEquality1
template <typename VALUE> template <typename VALUE>
struct traits<NonlinearEquality1<VALUE> > : Testable<NonlinearEquality1<VALUE> > { struct traits<NonlinearEquality1<VALUE> >
}; : Testable<NonlinearEquality1<VALUE> > {};
/* ************************************************************************* */ /* ************************************************************************* */
/** /**