Merge pull request #1984 from borglab/fixes

2025-01-20 13:20:48 -05:00 · 2025-01-20 13:20:48 -05:00 · 199b6cfcaa
parent ee7616e421 08fc4885f7
commit 199b6cfcaa
11 changed files with 62 additions and 50 deletions
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@ -52,6 +52,8 @@ function configure()
      -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
      -DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \
      -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
+      -DGTSAM_USE_BOOST_FEATURES=${GTSAM_USE_BOOST_FEATURES:-ON} \
+      -DGTSAM_ENABLE_BOOST_SERIALIZATION=${GTSAM_ENABLE_BOOST_SERIALIZATION:-ON} \
      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
      -DGTSAM_SINGLE_TEST_EXE=OFF
 }
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@ -2,8 +2,8 @@ name: Linux CI

 on: [pull_request]

-# Every time you make a push to your PR, it cancel immediately the previous checks, 
-# and start a new one. The other runner will be available more quickly to your PR. 
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
 concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true
@ -25,11 +25,12 @@ jobs:
        # Github Actions requires a single row to be added to the build matrix.
        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
        name: [
-          ubuntu-20.04-gcc-9,
-          ubuntu-20.04-clang-9,
-          ubuntu-22.04-gcc-12,
-          ubuntu-22.04-clang-14,
-        ]
+            # "Bracket" the versions from GCC [9-14] and Clang [9-16]
+            ubuntu-20.04-gcc-9,
+            ubuntu-20.04-clang-9,
+            ubuntu-24.04-gcc-14,
+            ubuntu-24.04-clang-16,
+          ]

        build_type: [Debug, Release]
        build_unstable: [ON]
@ -44,16 +45,16 @@ jobs:
            compiler: clang
            version: "9"

-          - name: ubuntu-22.04-gcc-12
-            os: ubuntu-22.04
+          - name: ubuntu-24.04-gcc-14
+            os: ubuntu-24.04
            compiler: gcc
-            version: "11"
-
-          - name: ubuntu-22.04-clang-14
-            os: ubuntu-22.04
-            compiler: clang
            version: "14"

+          - name: ubuntu-24.04-clang-16
+            os: ubuntu-24.04
+            compiler: clang
+            version: "16"
+
    steps:
      - name: Checkout
        uses: actions/checkout@v4
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@ -2,8 +2,8 @@ name: Special Cases CI

 on: [pull_request]

-# Every time you make a push to your PR, it cancel immediately the previous checks, 
-# and start a new one. The other runner will be available more quickly to your PR. 
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
 concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true
@ -115,19 +115,24 @@ jobs:
            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
          fi

-      - name: Install Boost
-        if: runner.os == 'Linux'
-        run: |
-          sudo apt-get -y install libboost-all-dev
-
      - name: Install (macOS)
        if: runner.os == 'macOS'
        run: |
-          brew install cmake ninja boost
+          brew install cmake ninja
          sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
          echo "CC=clang" >> $GITHUB_ENV
          echo "CXX=clang++" >> $GITHUB_ENV

+      - name: Install Boost
+        run: |
+          if [ ${{matrix.flag}} != 'no_boost' ]; then
+            if [ ${{runner.os}} == 'Linux' ]; then
+              sudo apt-get -y install libboost-all-dev
+            elif [ ${{runner.os}} == 'macOS' ]; then
+              brew install boost
+            fi
+          fi
+
      - name: Set Allow Deprecated Flag
        if: matrix.flag == 'deprecated'
        run: |
@ -181,7 +186,6 @@ jobs:
        with:
          swap-size-gb: 12

-
      - name: Build & Test
        run: |
          bash .github/scripts/unix.sh -t
--- a/gtsam/base/std_optional_serialization.h
+++ b/gtsam/base/std_optional_serialization.h
@ -48,7 +48,8 @@
 */
 #ifdef __GNUC__
 #if __GNUC__ >= 7 && __cplusplus >= 201703L
-namespace boost { namespace serialization { struct U; } }
+// Based on https://github.com/borglab/gtsam/issues/1738, we define U as a complete type.
+namespace boost { namespace serialization { struct U{}; } }
 namespace std { template<> struct is_trivially_default_constructible<boost::serialization::U> : std::false_type {}; }
 namespace std { template<> struct is_trivially_copy_constructible<boost::serialization::U> : std::false_type {}; }
 namespace std { template<> struct is_trivially_move_constructible<boost::serialization::U> : std::false_type {}; }
--- a/gtsam/base/tests/testStdOptionalSerialization.cpp
+++ b/gtsam/base/tests/testStdOptionalSerialization.cpp
@ -60,8 +60,6 @@ public:
  TestOptionalStruct() = default;
  TestOptionalStruct(const int& opt)
      : opt(opt) {}
-  // A copy constructor is needed for serialization
-  TestOptionalStruct(const TestOptionalStruct& other) = default;
  bool operator==(const TestOptionalStruct& other) const {
    // check the values are equal
    return *opt == *other.opt;
--- a/gtsam/constrained/InequalityPenaltyFunction.cpp
+++ b/gtsam/constrained/InequalityPenaltyFunction.cpp
@ -20,12 +20,15 @@

 namespace gtsam {

-/* ********************************************************************************************* */
-InequalityPenaltyFunction::UnaryScalarFunc InequalityPenaltyFunction::function() const {
-  return [=](const double& x, OptionalJacobian<1, 1> H = {}) -> double { return (*this)(x, H); };
+/* ************************************************************************* */
+InequalityPenaltyFunction::UnaryScalarFunc InequalityPenaltyFunction::function()
+    const {
+  return [this](const double& x, OptionalJacobian<1, 1> H = {}) {
+    return this->operator()(x, H);
+  };
 }

-/* ********************************************************************************************* */
+/* ************************************************************************* */
 double RampFunction::Ramp(const double x, OptionalJacobian<1, 1> H) {
  if (x < 0) {
    if (H) {
@ -40,8 +43,9 @@ double RampFunction::Ramp(const double x, OptionalJacobian<1, 1> H) {
  }
 }

-/* ********************************************************************************************* */
-double SmoothRampPoly2::operator()(const double& x, OptionalJacobian<1, 1> H) const {
+/* ************************************************************************* */
+double SmoothRampPoly2::operator()(const double& x,
+                                   OptionalJacobian<1, 1> H) const {
  if (x <= 0) {
    if (H) {
      H->setZero();
@ -60,8 +64,9 @@ double SmoothRampPoly2::operator()(const double& x, OptionalJacobian<1, 1> H) co
  }
 }

-/* ********************************************************************************************* */
-double SmoothRampPoly3::operator()(const double& x, OptionalJacobian<1, 1> H) const {
+/* ************************************************************************* */
+double SmoothRampPoly3::operator()(const double& x,
+                                   OptionalJacobian<1, 1> H) const {
  if (x <= 0) {
    if (H) {
      H->setZero();
@ -80,8 +85,9 @@ double SmoothRampPoly3::operator()(const double& x, OptionalJacobian<1, 1> H) co
  }
 }

-/* ********************************************************************************************* */
-double SoftPlusFunction::operator()(const double& x, OptionalJacobian<1, 1> H) const {
+/* ************************************************************************* */
+double SoftPlusFunction::operator()(const double& x,
+                                    OptionalJacobian<1, 1> H) const {
  if (H) {
    H->setConstant(1 / (1 + std::exp(-k_ * x)));
  }
--- a/gtsam/geometry/tests/testSO3.cpp
+++ b/gtsam/geometry/tests/testSO3.cpp
@ -333,7 +333,7 @@ TEST(SO3, CrossB) {
  Matrix aH1;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).crossB(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -351,7 +351,7 @@ TEST(SO3, DoubleCrossC) {
  Matrix aH1;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).doubleCrossC(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -369,7 +369,7 @@ TEST(SO3, ApplyDexp) {
  Matrix aH1, aH2;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).applyDexp(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -390,7 +390,7 @@ TEST(SO3, ApplyInvDexp) {
  Matrix aH1, aH2;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).applyInvDexp(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -412,7 +412,7 @@ TEST(SO3, ApplyLeftJacobian) {
  Matrix aH1, aH2;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).applyLeftJacobian(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -433,7 +433,7 @@ TEST(SO3, ApplyLeftJacobianInverse) {
  Matrix aH1, aH2;
  for (bool nearZero : {true, false}) {
    std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
          return so3::DexpFunctor(omega, nearZero).applyLeftJacobianInverse(v);
        };
    for (const Vector3& omega : test_cases::omegas(nearZero)) {
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@ -144,7 +144,7 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
  auto p = testing::Params();
  testing::SomeMeasurements measurements;

-  auto preintegrated = [=](const Vector3& a, const Vector3& w) {
+  auto preintegrated = [&](const Vector3& a, const Vector3& w) {
    PreintegratedImuMeasurements pim(p, Bias(a, w));
    testing::integrateMeasurements(measurements, &pim);
    return pim.preintegrated();
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@ -399,7 +399,7 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) {
  Vector3 measuredOmega(0.1, 0, 0);
  double deltaT = 0.5;

-  auto evaluateRotation = [=](const Vector3 biasOmega) {
+  auto evaluateRotation = [&measuredOmega, &deltaT](const Vector3 biasOmega) {
    return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
  };

@ -424,7 +424,7 @@ TEST(ImuFactor, PartialDerivativeLogmap) {
  // Measurements
  Vector3 deltaTheta(0, 0, 0);

-  auto evaluateLogRotation = [=](const Vector3 delta) {
+  auto evaluateLogRotation = [&thetaHat](const Vector3 delta) {
    return Rot3::Logmap(
        Rot3::Expmap(thetaHat).compose(Rot3::Expmap(delta)));
  };
--- a/gtsam/navigation/tests/testManifoldPreintegration.cpp
+++ b/gtsam/navigation/tests/testManifoldPreintegration.cpp
@ -43,21 +43,21 @@ TEST(ManifoldPreintegration, BiasCorrectionJacobians) {
  testing::SomeMeasurements measurements;

  std::function<Rot3(const Vector3&, const Vector3&)> deltaRij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
        ManifoldPreintegration pim(testing::Params(), Bias(a, w));
        testing::integrateMeasurements(measurements, &pim);
        return pim.deltaRij();
      };

  std::function<Point3(const Vector3&, const Vector3&)> deltaPij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
        ManifoldPreintegration pim(testing::Params(), Bias(a, w));
        testing::integrateMeasurements(measurements, &pim);
        return pim.deltaPij();
      };

  std::function<Vector3(const Vector3&, const Vector3&)> deltaVij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
        ManifoldPreintegration pim(testing::Params(), Bias(a, w));
        testing::integrateMeasurements(measurements, &pim);
        return pim.deltaVij();
--- a/gtsam/navigation/tests/testTangentPreintegration.cpp
+++ b/gtsam/navigation/tests/testTangentPreintegration.cpp
@ -78,7 +78,7 @@ TEST(ImuFactor, BiasCorrectionJacobians) {
  testing::SomeMeasurements measurements;

  std::function<Vector9(const Vector3&, const Vector3&)> preintegrated =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
        TangentPreintegration pim(testing::Params(), Bias(a, w));
        testing::integrateMeasurements(measurements, &pim);
        return pim.preintegrated();
@ -149,7 +149,7 @@ TEST(TangentPreintegration, Compose) {
 TEST(TangentPreintegration, MergedBiasDerivatives) {
  testing::SomeMeasurements measurements;

-  auto f = [=](const Vector3& a, const Vector3& w) {
+  auto f = [&](const Vector3& a, const Vector3& w) {
    TangentPreintegration pim02(testing::Params(), Bias(a, w));
    testing::integrateMeasurements(measurements, &pim02);
    testing::integrateMeasurements(measurements, &pim02);