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Merged in feature/c++11 (pull request #193) 

Make C++ 11 the default
release/4.3a0
Frank Dellaert 2015-10-26 17:04:08 -07:00
parent 2f1b60fa9d 44aaf9ad95
commit 35b6986d32
6 changed files with 39 additions and 16 deletions
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2
CMakeLists.txt
View File

@ -131,7 +131,7 @@ endif()
if(NOT (${Boost_VERSION} LESS 105600))
message("Ignoring Boost restriction on optional lvalue assignment from rvalues")
add_definitions(-DBOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES)
add_definitions(-DBOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES -DBOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES)
endif()
###############################################################################

16
cmake/GtsamBuildTypes.cmake
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@ -34,19 +34,19 @@ if(NOT FIRST_PASS_DONE)
set(CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING CMAKE_MODULE_LINKER_FLAGS_PROFILING)
else()
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
set(CMAKE_C_FLAGS_RELEASE "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -std=c++11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
set(CMAKE_C_FLAGS_RELEASE "-std=c11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
set(CMAKE_CXX_FLAGS_RELEASE "-std=c++11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
set(CMAKE_C_FLAGS_TIMING "${CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
set(CMAKE_CXX_FLAGS_TIMING "${CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
set(CMAKE_C_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
set(CMAKE_CXX_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
set(CMAKE_C_FLAGS_PROFILING "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
set(CMAKE_CXX_FLAGS_PROFILING "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)

20
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -189,12 +189,24 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem(
}
} else {
// Straightforward damping:
// initialize noise model cache to a reasonable default size
NoiseCacheVector noises(6);
BOOST_FOREACH(const Values::KeyValuePair& key_value, state_.values) {
size_t dim = key_value.value.dim();
Matrix A = Matrix::Identity(dim, dim);
Vector b = Vector::Zero(dim);
SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);
damped += boost::make_shared<JacobianFactor>(key_value.key, A, b, model);
if (dim > noises.size())
noises.resize(dim);
NoiseCacheItem& item = noises[dim-1];
// Initialize noise model, A and b if we haven't done so already
if(!item.model) {
item.A = Matrix::Identity(dim, dim);
item.b = Vector::Zero(dim);
item.model = noiseModel::Isotropic::Sigma(dim, sigma);
}
damped += boost::make_shared<JacobianFactor>(key_value.key, item.A, item.b, item.model);
}
}
gttoc(damp);

11
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
View File

@ -272,6 +272,17 @@ public:
GaussianFactorGraph::shared_ptr buildDampedSystem(const GaussianFactorGraph& linear);
friend class ::NonlinearOptimizerMoreOptimizationTest;
/** Small struct to cache objects needed for damping.
* This is used in buildDampedSystem */
struct NoiseCacheItem {
Matrix A;
Vector b;
SharedDiagonal model;
};
/// Noise model Cache
typedef std::vector<NoiseCacheItem> NoiseCacheVector;
void writeLogFile(double currentError);
/// @}

2
gtsam/slam/SmartProjectionFactor.h
View File

@ -246,7 +246,7 @@ public:
/// triangulate
bool triangulateForLinearize(const Cameras& cameras) const {
triangulateSafe(cameras); // imperative, might reset result_
return (result_);
return bool(result_);
}
/// linearize returns a Hessianfactor that is an approximation of error(p)

4
gtsam_unstable/slam/SmartStereoProjectionFactor.h
View File

@ -314,7 +314,7 @@ public:
/// triangulate
bool triangulateForLinearize(const Cameras& cameras) const {
triangulateSafe(cameras); // imperative, might reset result_
return (result_);
return bool(result_);
}
/// linearize returns a Hessianfactor that is an approximation of error(p)
@ -583,7 +583,7 @@ public:
/// Is result valid?
bool isValid() const {
return result_;
return bool(result_);
}
/** return the degenerate state */