Fix windows test
Tal Regev
parent
0f7bc5cf2d
commit
62d59c62d4
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@ -99,26 +99,64 @@ jobs:
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cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
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- name: Build
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shell: cmd
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run: |
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# Since Visual Studio is a multi-generator, we need to use --config
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# https://stackoverflow.com/a/24470998/1236990
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
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:: Since Visual Studio is a multi-generator, we need to use --config
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:: https://stackoverflow.com/a/24470998/1236990
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cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
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cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
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# Run GTSAM tests
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
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#cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
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#cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
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#cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
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#cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
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cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
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:: Target doesn't exist
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
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# Run GTSAM_UNSTABLE tests
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#cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
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- name: Test
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shell: cmd
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run: |
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:: Run GTSAM tests
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
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:: Compilation error
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
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:: Run GTSAM_UNSTABLE tests
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cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
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:: Compile. Fail with exception
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
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:: Compilation error
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
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:: Compilation error
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:: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
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@ -32,6 +32,14 @@ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
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###############################################################################
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# Gather information, perform checks, set defaults
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if(MSVC)
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set(MSVC_LINKER_FLAGS "/FORCE:MULTIPLE")
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set(CMAKE_EXE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
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set(CMAKE_MODULE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
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set(CMAKE_SHARED_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
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set(CMAKE_STATIC_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
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endif()
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set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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include(GtsamMakeConfigFile)
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include(GNUInstallDirs)
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@ -80,7 +80,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
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*
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* @ingroup basis
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*/
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Matrix kroneckerProductIdentity(size_t M, const Weights& w);
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Matrix GTSAM_EXPORT kroneckerProductIdentity(size_t M, const Weights& w);
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/**
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* CRTP Base class for function bases
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@ -22,6 +22,8 @@
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#include <string>
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#include <vector>
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#include <gtsam/dllexport.h>
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namespace gtsam {
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/**
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* @brief A simple parser that replaces the boost spirit parser.
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@ -47,7 +49,7 @@ namespace gtsam {
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*
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* Also fails if the rows are not of the same size.
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*/
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struct SignatureParser {
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struct GTSAM_EXPORT SignatureParser {
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using Row = std::vector<double>;
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using Table = std::vector<Row>;
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@ -146,7 +146,7 @@ class GTSAM_EXPORT Line3 {
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* @param Dline - OptionalJacobian of transformed line with respect to l
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* @return Transformed line in camera frame
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*/
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friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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GTSAM_EXPORT friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose,
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OptionalJacobian<4, 4> Dline);
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};
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@ -36,7 +36,7 @@ namespace gtsam {
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* @ingroup geometry
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* \nosubgrouping
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*/
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class Pose2: public LieGroup<Pose2, 3> {
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class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
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public:
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@ -112,10 +112,10 @@ public:
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/// @{
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/** print with optional string */
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GTSAM_EXPORT void print(const std::string& s = "") const;
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void print(const std::string& s = "") const;
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/** assert equality up to a tolerance */
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GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
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bool equals(const Pose2& pose, double tol = 1e-9) const;
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/// @}
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/// @name Group
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@ -125,7 +125,7 @@ public:
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inline static Pose2 Identity() { return Pose2(); }
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/// inverse
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GTSAM_EXPORT Pose2 inverse() const;
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Pose2 inverse() const;
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/// compose syntactic sugar
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inline Pose2 operator*(const Pose2& p2) const {
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@ -137,16 +137,16 @@ public:
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/// @{
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///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
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GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
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static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
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///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
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GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
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static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
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/**
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* Calculate Adjoint map
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* Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
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*/
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GTSAM_EXPORT Matrix3 AdjointMap() const;
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Matrix3 AdjointMap() const;
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/// Apply AdjointMap to twist xi
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inline Vector3 Adjoint(const Vector3& xi) const {
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@ -156,7 +156,7 @@ public:
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/**
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* Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
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*/
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GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
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static Matrix3 adjointMap(const Vector3& v);
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/**
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* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
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}
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/// Derivative of Expmap
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GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
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static Matrix3 ExpmapDerivative(const Vector3& v);
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/// Derivative of Logmap
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GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
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static Matrix3 LogmapDerivative(const Pose2& v);
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// Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
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struct ChartAtOrigin {
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GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
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GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
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struct GTSAM_EXPORT ChartAtOrigin {
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static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
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static Vector3 Local(const Pose2& r, ChartJacobian H = {});
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};
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using LieGroup<Pose2, 3>::inverse; // version with derivative
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/// @{
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/** Return point coordinates in pose coordinate frame */
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GTSAM_EXPORT Point2 transformTo(const Point2& point,
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Point2 transformTo(const Point2& point,
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OptionalJacobian<2, 3> Dpose = {},
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OptionalJacobian<2, 2> Dpoint = {}) const;
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@ -222,7 +222,7 @@ public:
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Matrix transformTo(const Matrix& points) const;
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/** Return point coordinates in global frame */
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GTSAM_EXPORT Point2 transformFrom(const Point2& point,
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Point2 transformFrom(const Point2& point,
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OptionalJacobian<2, 3> Dpose = {},
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OptionalJacobian<2, 2> Dpoint = {}) const;
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}
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//// return transformation matrix
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GTSAM_EXPORT Matrix3 matrix() const;
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Matrix3 matrix() const;
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/**
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* Calculate bearing to a landmark
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* @param point 2D location of landmark
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* @return 2D rotation \f$ \in SO(2) \f$
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*/
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GTSAM_EXPORT Rot2 bearing(const Point2& point,
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Rot2 bearing(const Point2& point,
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OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
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/**
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* @param point SO(2) location of other pose
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* @return 2D rotation \f$ \in SO(2) \f$
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*/
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GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
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Rot2 bearing(const Pose2& pose,
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OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
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/**
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* @param point 2D location of landmark
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* @return range (double)
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*/
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GTSAM_EXPORT double range(const Point2& point,
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double range(const Point2& point,
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OptionalJacobian<1, 3> H1={},
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OptionalJacobian<1, 2> H2={}) const;
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* @param point 2D location of other pose
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* @return range (double)
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*/
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GTSAM_EXPORT double range(const Pose2& point,
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double range(const Pose2& point,
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OptionalJacobian<1, 3> H1={},
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OptionalJacobian<1, 3> H2={}) const;
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@ -204,7 +204,7 @@ public:
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static Matrix6 LogmapDerivative(const Pose3& xi);
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// Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP
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struct ChartAtOrigin {
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struct GTSAM_EXPORT ChartAtOrigin {
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static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = {});
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static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = {});
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};
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@ -35,7 +35,7 @@ using SharedFactor = std::shared_ptr<Factor>;
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* Hybrid Factor Graph
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* Factor graph with utilities for hybrid factors.
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*/
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class HybridFactorGraph : public FactorGraph<Factor> {
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class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
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public:
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using Base = FactorGraph<Factor>;
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using This = HybridFactorGraph; ///< this class
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@ -24,7 +24,7 @@
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namespace gtsam {
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class HybridSmoother {
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class GTSAM_EXPORT HybridSmoother {
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private:
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HybridBayesNet hybridBayesNet_;
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HybridGaussianFactorGraph remainingFactorGraph_;
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@ -43,6 +43,7 @@
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#include <iostream>
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#include <iterator>
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#include <vector>
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#include <numeric>
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#include "Switching.h"
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#include "TinyHybridExample.h"
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@ -30,7 +30,7 @@
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namespace gtsam {
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class Ordering: public KeyVector {
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class GTSAM_EXPORT Ordering: public KeyVector {
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protected:
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typedef KeyVector Base;
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typedef std::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
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/// Create an empty ordering
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GTSAM_EXPORT
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Ordering() {
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}
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@ -99,7 +98,7 @@ public:
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}
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/// Compute a fill-reducing ordering using COLAMD from a VariableIndex.
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static GTSAM_EXPORT Ordering Colamd(const VariableIndex& variableIndex);
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static Ordering Colamd(const VariableIndex& variableIndex);
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/// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
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/// for note on performance). This internally builds a VariableIndex so if you already have a
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/// variables in \c constrainLast will be ordered in the same order specified in the KeyVector
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/// \c constrainLast. If \c forceOrder is false, the variables in \c constrainLast will be
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/// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
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static GTSAM_EXPORT Ordering ColamdConstrainedLast(
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static Ordering ColamdConstrainedLast(
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const VariableIndex& variableIndex, const KeyVector& constrainLast,
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bool forceOrder = false);
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/// KeyVector \c constrainFirst. If \c forceOrder is false, the variables in \c
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/// constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to
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/// reduce fill-in as well.
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static GTSAM_EXPORT Ordering ColamdConstrainedFirst(
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static Ordering ColamdConstrainedFirst(
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const VariableIndex& variableIndex,
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const KeyVector& constrainFirst, bool forceOrder = false);
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/// appear in \c groups in arbitrary order. Any variables not present in \c groups will be
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/// assigned to group 0. This function simply fills the \c cmember argument to CCOLAMD with the
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/// supplied indices, see the CCOLAMD documentation for more information.
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static GTSAM_EXPORT Ordering ColamdConstrained(
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static Ordering ColamdConstrained(
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const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
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/// Return a natural Ordering. Typically used by iterative solvers
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@ -195,11 +194,11 @@ public:
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/// METIS Formatting function
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template<class FACTOR_GRAPH>
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static GTSAM_EXPORT void CSRFormat(std::vector<int>& xadj,
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static void CSRFormat(std::vector<int>& xadj,
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std::vector<int>& adj, const FACTOR_GRAPH& graph);
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/// Compute an ordering determined by METIS from a VariableIndex
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static GTSAM_EXPORT Ordering Metis(const MetisIndex& met);
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static Ordering Metis(const MetisIndex& met);
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template<class FACTOR_GRAPH>
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static Ordering Metis(const FACTOR_GRAPH& graph) {
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@ -241,18 +240,16 @@ public:
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/// @name Testable
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/// @{
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GTSAM_EXPORT
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void print(const std::string& str = "", const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const;
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GTSAM_EXPORT
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bool equals(const Ordering& other, double tol = 1e-9) const;
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/// @}
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private:
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/// Internal COLAMD function
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static GTSAM_EXPORT Ordering ColamdConstrained(
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static Ordering ColamdConstrained(
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const VariableIndex& variableIndex, std::vector<int>& cmember);
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#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
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@ -19,6 +19,7 @@
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#pragma once
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#include <gtsam_unstable/dllexport.h>
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#include <gtsam_unstable/linear/LP.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
|
||||
|
||||
|
|
@ -49,7 +50,7 @@ namespace gtsam {
|
|||
* inequality constraint, we can't conclude that the problem is infeasible.
|
||||
* However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
|
||||
*/
|
||||
class LPInitSolver {
|
||||
class GTSAM_UNSTABLE_EXPORT LPInitSolver {
|
||||
private:
|
||||
const LP& lp_;
|
||||
|
||||
|
|
|
|||
|
|
@ -18,12 +18,13 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <gtsam_unstable/dllexport.h>
|
||||
#include <gtsam_unstable/linear/QP.h>
|
||||
#include <fstream>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
class QPSParser {
|
||||
class GTSAM_UNSTABLE_EXPORT QPSParser {
|
||||
|
||||
private:
|
||||
std::string fileName_;
|
||||
|
|
|
|||
Loading…
Reference in New Issue