Merged develop into feature/performance

CMakeLists.txt

@@ -179,6 +179,11 @@ if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
     set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
     include_directories(${MKL_INCLUDE_DIR})
     list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
+    
+    # --no-as-needed is required with gcc according to the MKL link advisor
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")  
+    endif()
 else()
     set(GTSAM_USE_EIGEN_MKL 0)
     set(EIGEN_USE_MKL_ALL 0)

examples/TimeTBB.cpp

@@ -17,7 +17,6 @@
 
 #include <gtsam/global_includes.h>
 #include <gtsam/base/Matrix.h>
-#include <gtsam/config.h> // for GTSAM_USE_TBB
 
 #include <boost/assign/list_of.hpp>
 #include <boost/foreach.hpp>

gtsam/base/Matrix.h

@@ -22,6 +22,8 @@
 
 #pragma once
 #include <gtsam/base/Vector.h>
+#include <gtsam/config.h>      // Configuration from CMake
+
 #include <boost/math/special_functions/fpclassify.hpp>
 #include <Eigen/Core>
 #include <Eigen/Cholesky>

gtsam/base/OptionalJacobian.h

@@ -18,7 +18,7 @@
  */
 
 #pragma once
-
+#include <gtsam/config.h>      // Configuration from CMake
 #include <Eigen/Dense>
 
 #ifndef OPTIONALJACOBIAN_NOBOOST

gtsam/nonlinear/internal/ExecutionTrace.h

@@ -17,7 +17,7 @@
  */
 
 #pragma once
-
+#include <gtsam/config.h>      // Configuration from CMake
 #include <gtsam/nonlinear/internal/JacobianMap.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/base/Manifold.h>