excluding some examples and moved index_sequence implementation to gtsam namespace

release/4.3a0
kartik arcot 2023-01-23 11:19:04 -08:00 committed by Frank Dellaert
parent fc05618907
commit 2eecfe382b
5 changed files with 32 additions and 36 deletions

View File

@ -4,10 +4,17 @@ set (excluded_examples
# if GTSAM_ENABLE_BOOST_SERIALIZATION is not set then SolverComparer.cpp will not compile
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
set (excluded_examples
${excluded_examples}
list (APPEND excluded_examples
SolverComparer.cpp
)
endif()
# Add examples to exclude if GTSAM_USE_BOOST is not set
if (NOT GTSAM_USE_BOOST)
# add to excluded examples
list (APPEND excluded_examples
# Boost examples
SolverComparer.cpp
)
endif()
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")

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@ -28,16 +28,9 @@ private:
}
// boost::index_sequence was introduced in 1.66, so we'll manually define an
// implementation if user has 1.65. boost::index_sequence is used to get array
// indices that align with a parameter pack.
#include <boost/version.hpp>
#if BOOST_VERSION >= 106600
#include <boost/mp11/integer_sequence.hpp>
#else
namespace boost {
namespace mp11 {
namespace gtsam {
// Adapted from https://stackoverflow.com/a/32223343/9151520
// An adaptation of boost::mp11::index_sequence
template <size_t... Ints>
struct index_sequence {
using type = index_sequence;
@ -49,20 +42,16 @@ template <class Sequence1, class Sequence2>
struct _merge_and_renumber;
template <size_t... I1, size_t... I2>
struct _merge_and_renumber<index_sequence<I1...>, index_sequence<I2...> >
struct _merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
: index_sequence<I1..., (sizeof...(I1) + I2)...> {};
} // namespace detail
template <size_t N>
struct make_index_sequence
: detail::_merge_and_renumber<
typename make_index_sequence<N / 2>::type,
typename make_index_sequence<N - N / 2>::type> {};
struct make_index_sequence : detail::_merge_and_renumber<typename make_index_sequence<N / 2>::type,
typename make_index_sequence<N - N / 2>::type> {};
template <>
struct make_index_sequence<0> : index_sequence<> {};
template <>
struct make_index_sequence<1> : index_sequence<0> {};
template <class... T>
using index_sequence_for = make_index_sequence<sizeof...(T)>;
} // namespace mp11
} // namespace boost
#endif
} // namespace gtsam

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@ -26,7 +26,7 @@
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/inference/Factor.h>
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/utilities.h> // boost::index_sequence
#include <gtsam/base/utilities.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/base_object.hpp>
@ -609,7 +609,7 @@ protected:
Vector unwhitenedError(
const Values& x,
OptionalMatrixVecType H = nullptr) const override {
return unwhitenedError(boost::mp11::index_sequence_for<ValueTypes...>{}, x,
return unwhitenedError(gtsam::index_sequence_for<ValueTypes...>{}, x,
H);
}
@ -702,7 +702,7 @@ protected:
*/
template <std::size_t... Indices>
inline Vector unwhitenedError(
boost::mp11::index_sequence<Indices...>, //
gtsam::index_sequence<Indices...>, //
const Values& x,
OptionalMatrixVecType H = nullptr) const {
if (this->active(x)) {

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@ -1,5 +1,15 @@
set (excluded_examples
# fileToExclude.cpp
)
# disable tests if GTSAM_USE_BOOST_FEATURES is OFF
if (NOT GTSAM_USE_BOOST_FEATURES)
set (excluded_examples
# fileToExclude.cpp
"schedulingExample.cpp"
"schedulingQuals12.cpp"
"schedulingQuals13.cpp"
)
else()
set (excluded_examples "")
endif()
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")

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@ -1,13 +1,3 @@
# disable tests if GTSAM_USE_BOOST_FEATURES is OFF
if (NOT GTSAM_USE_BOOST_FEATURES)
set (excluded_examples
# fileToExclude.cpp
"schedulingExample.cpp"
"schedulingQuals12.cpp"
"schedulingQuals13.cpp"
)
else()
set (excluded_examples "")
endif()
set (excluded_examples "")
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")