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

Make C++ 11 the default

CMakeLists.txt

@@ -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()
 
 ###############################################################################

cmake/GtsamBuildTypes.cmake

@@ -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_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} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+    set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -std=c++11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
-    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_C_FLAGS_RELEASE          "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_C_FLAGS_RELEASE          "-std=c11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELEASE        "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELEASE        "-std=c++11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
     set(CMAKE_C_FLAGS_TIMING           "${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  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
-    set(CMAKE_C_FLAGS_PROFILING        "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_C_FLAGS_PROFILING        "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
-    set(CMAKE_CXX_FLAGS_PROFILING      "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_CXX_FLAGS_PROFILING      "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${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)

gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -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);
+      if (dim > noises.size())
-      SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);
+        noises.resize(dim);
-      damped += boost::make_shared<JacobianFactor>(key_value.key, A, b, model);
+
+      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);

gtsam/nonlinear/LevenbergMarquardtOptimizer.h

@@ -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);
 
   /// @}

gtsam/slam/SmartProjectionFactor.h

@@ -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)

gtsam_unstable/slam/SmartStereoProjectionFactor.h

@@ -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 */