Merge pull request #1483 from borglab/fixes/boost_usage_leak

A few minor fixes to allow compiling 'boost-free' gtsam without compi…

.github/workflows/build-special.yml

@@ -28,6 +28,7 @@ jobs:
             ubuntu-clang-cayleymap,
             ubuntu-clang-system-libs,
             ubuntu-no-boost,
+            ubuntu-no-unstable,
           ]
 
         build_type: [Debug, Release]
@@ -69,6 +70,12 @@ jobs:
             version: "14"
             flag: no_boost
 
+          - name: ubuntu-no-unstable
+            os: ubuntu-22.04
+            compiler: clang
+            version: "14"
+            flag: no_unstable
+
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -157,12 +164,19 @@ jobs:
           echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV
           echo "GTSAM will not use BOOST"
 
+      - name: Turn off unstable
+        if: matrix.flag == 'no_unstable'
+        run: |
+          echo "GTSAM_BUILD_UNSTABLE=OFF" >> $GITHUB_ENV
+          echo "GTSAM 'unstable' will not be built."
+
       - name: Set Swap Space
         if: runner.os == 'Linux'
         uses: pierotofy/set-swap-space@master
         with:
           swap-size-gb: 12
 
+
       - name: Build & Test
         run: |
           bash .github/scripts/unix.sh -t

examples/CMakeLists.txt

@@ -20,4 +20,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
       )
 endif()
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")

gtsam/base/Matrix.cpp

@@ -30,6 +30,7 @@
 #include <fstream>
 #include <limits>
 #include <iostream>
+#include <iterator>
 
 using namespace std;
 

gtsam/discrete/DecisionTree-inl.h

@@ -33,6 +33,7 @@
 #include <vector>
 #include <optional>
 #include <cassert>
+#include <iterator>
 
 namespace gtsam {
 

gtsam/hybrid/HybridSmoother.cpp

@@ -27,7 +27,8 @@ namespace gtsam {
 Ordering HybridSmoother::getOrdering(
     const HybridGaussianFactorGraph &newFactors) {
   HybridGaussianFactorGraph factors(hybridBayesNet());
-  factors += newFactors;
+  factors.push_back(newFactors);
+
   // Get all the discrete keys from the factors
   KeySet allDiscrete = factors.discreteKeySet();
 
@@ -72,8 +73,7 @@ void HybridSmoother::update(HybridGaussianFactorGraph graph,
     HybridBayesNet prunedBayesNetFragment =
         bayesNetFragment->prune(*maxNrLeaves);
     // Set the bayes net fragment to the pruned version
-    bayesNetFragment =
+    bayesNetFragment = std::make_shared<HybridBayesNet>(prunedBayesNetFragment);
-        std::make_shared<HybridBayesNet>(prunedBayesNetFragment);
   }
 
   // Add the partial bayes net to the posterior bayes net.

gtsam/navigation/PreintegrationCombinedParams.h

@@ -51,8 +51,8 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   /// See two named constructors below for good values of n_gravity in body
   /// frame
-  PreintegrationCombinedParams(const Vector3& n_gravity)
+  PreintegrationCombinedParams(const Vector3& n_gravity_)
-      : PreintegrationParams(n_gravity),
+      : PreintegrationParams(n_gravity_),
         biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
         biasAccOmegaInt(I_6x6) {}

gtsam/navigation/PreintegrationParams.h

@@ -40,12 +40,12 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
 
   /// The Params constructor insists on getting the navigation frame gravity vector
   /// For convenience, two commonly used conventions are provided by named constructors below
-  PreintegrationParams(const Vector3& n_gravity)
+  PreintegrationParams(const Vector3& n_gravity_)
       : PreintegratedRotationParams(),
         accelerometerCovariance(I_3x3),
         integrationCovariance(I_3x3),
         use2ndOrderCoriolis(false),
-        n_gravity(n_gravity) {}
+        n_gravity(n_gravity_) {}
 
   // Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis
   static std::shared_ptr<PreintegrationParams> MakeSharedD(double g = 9.81) {

gtsam/nonlinear/FixedLagSmoother.h

@@ -20,7 +20,7 @@
 // \callgraph
 #pragma once
 
-#include <gtsam_unstable/dllexport.h>
+#include <gtsam/dllexport.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>

gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h

@@ -22,6 +22,7 @@
 
 #include <gtsam/nonlinear/FixedLagSmoother.h>
 #include <gtsam/nonlinear/ISAM2.h>
+#include "gtsam_unstable/dllexport.h"
 
 namespace gtsam {
 

gtsam_unstable/partition/GenericGraph.cpp

@@ -7,6 +7,7 @@
  */
 #include <iostream>
 #include <cassert>
+#include <algorithm>
 
 #include <gtsam/base/DSFVector.h>