Merge remote-tracking branch 'origin/develop' into feature/variadic-emplace_back

CMakeLists.txt

@@ -116,11 +116,11 @@ if(MSVC)
 	endif()
 endif()
 
-find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
+find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time timer chrono)
 
 # Required components
 if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
-    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_LIBRARY)
+    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
   message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
 endif()
 
@@ -128,7 +128,7 @@ option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
 # Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
 set(GTSAM_BOOST_LIBRARIES
     ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
-	${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
+	${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY})
 if (GTSAM_DISABLE_NEW_TIMERS)
     message("WARNING:  GTSAM timing instrumentation manually disabled")
     add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)

cmake/GtsamMatlabWrap.cmake

@@ -128,8 +128,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
     ## This needs to be fixed!!
     if(UNIX AND NOT APPLE)
       list(APPEND automaticDependencies ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE}
-        ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}
+        ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE})
-        ${Boost_REGEX_LIBRARY_RELEASE})
       if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
         list(APPEND automaticDependencies ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE})
         if(GTSAM_MEX_BUILD_STATIC_MODULE)

cmake/GtsamTesting.cmake

@@ -101,6 +101,9 @@ mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
 # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
 if(GTSAM_BUILD_TESTS)
     add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
+    
+    # Add target to build tests without running
+	add_custom_target(all.tests)
 endif()
 
 # Add examples target
@@ -109,8 +112,6 @@ add_custom_target(examples)
 # Add timing target
 add_custom_target(timing)
 
-# Add target to build tests without running
-add_custom_target(all.tests)
 
 # Implementations of this file's macros:
 

gtsam/nonlinear/DoglegOptimizerImpl.h

@@ -243,7 +243,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate(
         stay = false;
       }
     }
-    gttoc(adjust_Delta);
+    gttoc(adjust_delta);
   }
 
   // dx_d and f_error have already been filled in during the loop

wrap/Argument.cpp

@@ -18,7 +18,6 @@
 
 #include "Argument.h"
 
-#include <boost/regex.hpp>
 #include <boost/lexical_cast.hpp>
 
 #include <iostream>

wrap/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Build/install Wrap
 
-set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_REGEX_LIBRARY})
+set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
 
 # Allow for disabling serialization to handle errors related to Clang's linker
 option(GTSAM_WRAP_SERIALIZATION "If enabled, allows for wrapped objects to be saved via boost.serialization" ON)

wrap/Module.cpp

@@ -152,7 +152,7 @@ void Module::parseMarkup(const std::string& data) {
   // parse forward declaration
   ForwardDeclaration fwDec0, fwDec;
   Rule forward_declaration_p =
-      !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) 
+      !(str_p("virtual")[assign_a(fwDec.isVirtual, T)])
       >> str_p("class") 
       >> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)]
       >> ch_p(';') 

wrap/tests/testSpirit.cpp

@@ -102,9 +102,19 @@ TEST( spirit, constMethod_p ) {
   EXPECT(parse("double norm() const;", constMethod_p, space_p).full);
 }
 
+
 /* ************************************************************************* */
+/* See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=56665 
+   GCC compiler issues with -O2 and -fno-strict-aliasing results in undefined
+   behaviour when spirit uses assign_a with a literal.  
+   GCC versions 4.7.2 -> 5.4 inclusive */
+
 TEST( spirit, return_value_p ) {
-  bool isEigen = true;
+  static const bool T = true;
+  static const bool F = false;
+
+  bool isEigen = T;
+
   string actual_return_type;
   string actual_function_name;
 
@@ -119,9 +129,9 @@ TEST( spirit, return_value_p ) {
   Rule funcName_p  = lexeme_d[lower_p >> *(alnum_p | '_')];
 
   Rule returnType_p =
-      (basisType_p[assign_a(actual_return_type)][assign_a(isEigen, true)]) |
+      (basisType_p[assign_a(actual_return_type)][assign_a(isEigen, T)]) |
-      (className_p[assign_a(actual_return_type)][assign_a(isEigen,false)]) |
+      (className_p[assign_a(actual_return_type)][assign_a(isEigen, F)]) |
-      (eigenType_p[assign_a(actual_return_type)][assign_a(isEigen, true)]);
+      (eigenType_p[assign_a(actual_return_type)][assign_a(isEigen, T)]);
 
   Rule testFunc_p = returnType_p >> funcName_p[assign_a(actual_function_name)] >> str_p("();");