diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index 718eee5ea..99fddda68 100644 --- a/.github/scripts/python.sh +++ b/.github/scripts/python.sh @@ -79,7 +79,7 @@ function build() -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \ -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh index b5a559df5..1676ad537 100644 --- a/.github/scripts/unix.sh +++ b/.github/scripts/unix.sh @@ -64,14 +64,14 @@ function configure() -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=${GTSAM_ALLOW_DEPRECATED_SINCE_V42:-OFF} \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=${GTSAM_ALLOW_DEPRECATED_SINCE_V43:-OFF} \ -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \ -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \ -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \ -DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \ -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \ -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DGTSAM_SINGLE_TEST_EXE=ON \ + -DGTSAM_SINGLE_TEST_EXE=OFF \ -DBOOST_ROOT=$BOOST_ROOT \ -DBoost_NO_SYSTEM_PATHS=ON \ -DBoost_ARCHITECTURE=-x64 diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml index fa2425e4d..b678a71db 100644 --- a/.github/workflows/build-linux.yml +++ b/.github/workflows/build-linux.yml @@ -20,19 +20,15 @@ jobs: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ - ubuntu-20.04-gcc-7, ubuntu-20.04-gcc-9, ubuntu-20.04-clang-9, + ubuntu-22.04-gcc-11, + ubuntu-22.04-clang-14, ] - build_type: [Debug, Release] + build_type: [Release] build_unstable: [ON] include: - - name: ubuntu-20.04-gcc-7 - os: ubuntu-20.04 - compiler: gcc - version: "7" - - name: ubuntu-20.04-gcc-9 os: ubuntu-20.04 compiler: gcc @@ -43,14 +39,24 @@ jobs: compiler: clang version: "9" + - name: ubuntu-22.04-gcc-11 + os: ubuntu-22.04 + compiler: gcc + version: "11" + + - name: ubuntu-22.04-clang-14 + os: ubuntu-22.04 + compiler: clang + version: "14" + steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Install Dependencies run: | - # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository. - if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then + # LLVM (clang) 9/14 is not in Bionic's repositories so we add the official LLVM repository. + if [ "${{ matrix.compiler }}" = "clang" ]; then # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml index 7b7646328..3fa3c15dd 100644 --- a/.github/workflows/build-macos.yml +++ b/.github/workflows/build-macos.yml @@ -14,7 +14,7 @@ jobs: GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }} strategy: - fail-fast: false + fail-fast: true matrix: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. @@ -32,20 +32,14 @@ jobs: steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Install Dependencies run: | brew install cmake ninja brew install boost - if [ "${{ matrix.compiler }}" = "gcc" ]; then - brew install gcc@${{ matrix.version }} - echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV - echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV - else - sudo xcode-select -switch /Applications/Xcode.app - echo "CC=clang" >> $GITHUB_ENV - echo "CXX=clang++" >> $GITHUB_ENV - fi + sudo xcode-select -switch /Applications/Xcode.app + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV - name: Build and Test run: bash .github/scripts/unix.sh -t diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index 4eb861ecc..442e26e47 100644 --- a/.github/workflows/build-python.yml +++ b/.github/workflows/build-python.yml @@ -14,58 +14,45 @@ jobs: PYTHON_VERSION: ${{ matrix.python_version }} strategy: - fail-fast: false + fail-fast: true matrix: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. - name: [ - ubuntu-20.04-gcc-7, - ubuntu-20.04-gcc-9, - ubuntu-20.04-clang-9, - macOS-11-xcode-13.4.1, - ubuntu-20.04-gcc-7-tbb, - ] + name: + [ + ubuntu-20.04-gcc-9, + ubuntu-20.04-gcc-9-tbb, + ubuntu-20.04-clang-9, + macOS-11-xcode-13.4.1, + ] - build_type: [Debug, Release] + build_type: [Release] python_version: [3] include: - - name: ubuntu-20.04-gcc-7 - os: ubuntu-20.04 - compiler: gcc - version: "7" - - name: ubuntu-20.04-gcc-9 os: ubuntu-20.04 compiler: gcc version: "9" - - name: ubuntu-20.04-clang-9 + - name: ubuntu-20.04-gcc-9-tbb os: ubuntu-20.04 - compiler: clang + compiler: gcc version: "9" + flag: tbb - # NOTE temporarily added this as it is a required check. - name: ubuntu-20.04-clang-9 os: ubuntu-20.04 compiler: clang version: "9" - build_type: Debug - python_version: "3" - name: macOS-11-xcode-13.4.1 os: macOS-11 compiler: xcode version: "13.4.1" - - name: ubuntu-20.04-gcc-7-tbb - os: ubuntu-20.04 - compiler: gcc - version: "7" - flag: tbb - steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Install (Linux) if: runner.os == 'Linux' run: | @@ -82,7 +69,7 @@ jobs: sudo apt-get -y update sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev - + if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV @@ -98,15 +85,9 @@ jobs: brew tap ProfFan/robotics brew install cmake ninja brew install boost - if [ "${{ matrix.compiler }}" = "gcc" ]; then - brew install gcc@${{ matrix.version }} - echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV - echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV - else - sudo xcode-select -switch /Applications/Xcode.app - echo "CC=clang" >> $GITHUB_ENV - echo "CXX=clang++" >> $GITHUB_ENV - fi + sudo xcode-select -switch /Applications/Xcode.app + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV - name: Set GTSAM_WITH_TBB Flag if: matrix.flag == 'tbb' run: | diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml index ef7d7723d..7582bf41c 100644 --- a/.github/workflows/build-special.yml +++ b/.github/workflows/build-special.yml @@ -22,71 +22,80 @@ jobs: # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ - ubuntu-gcc-deprecated, - ubuntu-gcc-quaternions, - ubuntu-gcc-tbb, - ubuntu-cayleymap, + ubuntu-clang-deprecated, + ubuntu-clang-quaternions, + ubuntu-clang-tbb, + ubuntu-clang-cayleymap, + ubuntu-clang-system-libs, + ubuntu-no-boost, ] build_type: [Debug, Release] include: - - name: ubuntu-gcc-deprecated - os: ubuntu-20.04 - compiler: gcc - version: "9" + - name: ubuntu-clang-deprecated + os: ubuntu-22.04 + compiler: clang + version: "14" flag: deprecated - - name: ubuntu-gcc-quaternions - os: ubuntu-20.04 - compiler: gcc - version: "9" + - name: ubuntu-clang-quaternions + os: ubuntu-22.04 + compiler: clang + version: "14" flag: quaternions - - name: ubuntu-gcc-tbb - os: ubuntu-20.04 - compiler: gcc - version: "9" + - name: ubuntu-clang-tbb + os: ubuntu-22.04 + compiler: clang + version: "14" flag: tbb - - name: ubuntu-cayleymap - os: ubuntu-20.04 - compiler: gcc - version: "9" + - name: ubuntu-clang-cayleymap + os: ubuntu-22.04 + compiler: clang + version: "14" flag: cayley - - name: ubuntu-system-libs - os: ubuntu-20.04 - compiler: gcc - version: "9" - flag: system-libs + - name: ubuntu-clang-system-libs + os: ubuntu-22.04 + compiler: clang + version: "14" + flag: system + + - name: ubuntu-no-boost + os: ubuntu-22.04 + compiler: clang + version: "14" + flag: no_boost steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Install (Linux) if: runner.os == 'Linux' run: | - # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository. - if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then + sudo apt-get -y update + sudo apt-get -y install software-properties-common + + # LLVM (clang) 9/14 is not in 22.04 (jammy)'s repositories so we add the official LLVM repository. + if [ "${{ matrix.compiler }}" = "clang" ]; then + # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool + # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure + # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository + # This key is not in the keystore by default for Ubuntu so we need to add it. + LLVM_KEY=15CF4D18AF4F7421 gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY - gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add - - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" + gpg -a --export $LLVM_KEY | sudo apt-key add - + sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main" fi - sudo apt-get -y update sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev - if [ "${{ matrix.compiler }}" = "gcc" ]; then - sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib - echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV - echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV - else - sudo apt-get install -y clang-${{ matrix.version }} g++-multilib - echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV - echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV - fi + sudo apt-get install -y clang-${{ matrix.version }} g++-multilib + echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV + echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV - name: Install Boost if: runner.os == 'Linux' @@ -97,21 +106,15 @@ jobs: if: runner.os == 'macOS' run: | brew install cmake ninja boost - if [ "${{ matrix.compiler }}" = "gcc" ]; then - brew install gcc@${{ matrix.version }} - echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV - echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV - else - sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app - echo "CC=clang" >> $GITHUB_ENV - echo "CXX=clang++" >> $GITHUB_ENV - fi + sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app + echo "CC=clang" >> $GITHUB_ENV + echo "CXX=clang++" >> $GITHUB_ENV - name: Set Allow Deprecated Flag if: matrix.flag == 'deprecated' run: | - echo "GTSAM_ALLOW_DEPRECATED_SINCE_V42=ON" >> $GITHUB_ENV - echo "Allow deprecated since version 4.1" + echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV + echo "Allow deprecated since version 4.3" - name: Set Use Quaternions Flag if: matrix.flag == 'quaternions' @@ -135,8 +138,18 @@ jobs: - name: Use system versions of 3rd party libraries if: matrix.flag == 'system' run: | + sudo apt-get install libeigen3-dev echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV - echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV + # TODO(dellaert): This does not work yet? + # sudo apt-get install metis + # echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV + + - name: Turn off boost + if: matrix.flag == 'no_boost' + run: | + echo "GTSAM_ENABLE_BOOST_SERIALIZATION=OFF" >> $GITHUB_ENV + echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV + echo "GTSAM will not use BOOST" - name: Build & Test run: | diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml index ef2500b46..3d4bf3faf 100644 --- a/.github/workflows/build-windows.yml +++ b/.github/workflows/build-windows.yml @@ -16,7 +16,7 @@ jobs: BOOST_EXE: boost_1_72_0-msvc-14.2 strategy: - fail-fast: false + fail-fast: true matrix: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. @@ -94,7 +94,7 @@ jobs: echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Configuration run: | diff --git a/.github/workflows/trigger-packaging.yml b/.github/workflows/trigger-packaging.yml new file mode 100644 index 000000000..1f24db503 --- /dev/null +++ b/.github/workflows/trigger-packaging.yml @@ -0,0 +1,21 @@ +# This triggers building of packages +name: Trigger Package Builds +on: + push: + branches: + - develop +jobs: + trigger-package-build: + runs-on: ubuntu-latest + steps: + - name: Trigger Package Rebuild + uses: actions/github-script@v6 + with: + github-token: ${{ secrets.PACKAGING_REPO_ACCESS_TOKEN }} + script: | + await github.rest.actions.createWorkflowDispatch({ + owner: 'borglab-launchpad', + repo: 'gtsam-packaging', + workflow_id: 'main.yaml', + ref: 'master' + }) diff --git a/CMakeLists.txt b/CMakeLists.txt index 74433f333..ebe27443a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,9 +8,9 @@ endif() # Set the version number for the library set (GTSAM_VERSION_MAJOR 4) -set (GTSAM_VERSION_MINOR 2) +set (GTSAM_VERSION_MINOR 3) set (GTSAM_VERSION_PATCH 0) -set (GTSAM_PRERELEASE_VERSION "a7") +set (GTSAM_PRERELEASE_VERSION "a0") math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}") if (${GTSAM_VERSION_PATCH} EQUAL 0) @@ -50,8 +50,24 @@ endif() include(cmake/HandleGeneralOptions.cmake) # CMake build options -# Libraries: -include(cmake/HandleBoost.cmake) # Boost +############### Decide on BOOST ###################################### +# Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION +option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON) +if(GTSAM_ENABLE_BOOST_SERIALIZATION) + add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION) +endif() + +option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" ON) +if(GTSAM_USE_BOOST_FEATURES) + add_definitions(-DGTSAM_USE_BOOST_FEATURES) +endif() + +if(GTSAM_ENABLE_BOOST_SERIALIZATION OR GTSAM_USE_BOOST_FEATURES) +include(cmake/HandleBoost.cmake) +endif() +###################################################################### + +# Other Libraries: include(cmake/HandleCCache.cmake) # ccache include(cmake/HandleCPack.cmake) # CPack include(cmake/HandleEigen.cmake) # Eigen3 @@ -87,7 +103,7 @@ add_subdirectory(timing) # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) - add_subdirectory(gtsam_unstable) + add_subdirectory(gtsam_unstable) endif() # This is the new wrapper @@ -101,8 +117,6 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX) # Copy matlab.h to the correct folder. configure_file(${PROJECT_SOURCE_DIR}/wrap/matlab.h ${PROJECT_BINARY_DIR}/wrap/matlab.h COPYONLY) - # Add the include directories so that matlab.h can be found - include_directories("${PROJECT_BINARY_DIR}" "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}") add_subdirectory(wrap) list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake") diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index ab884ec1d..cbffa79d1 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -6,7 +6,6 @@ file(GLOB cppunitlite_src "*.cpp") add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers}) list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) -target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure diff --git a/CppUnitLite/Test.cpp b/CppUnitLite/Test.cpp index 78995a219..f5bea8819 100644 --- a/CppUnitLite/Test.cpp +++ b/CppUnitLite/Test.cpp @@ -15,8 +15,6 @@ #include "TestResult.h" #include "Failure.h" -#include - Test::Test (const std::string& testName) : name_ (testName), next_(0), lineNumber_(-1), safeCheck_(true) { @@ -47,10 +45,10 @@ bool Test::check(long expected, long actual, TestResult& result, const std::stri result.addFailure ( Failure ( name_, - boost::lexical_cast (__FILE__), + std::string(__FILE__), __LINE__, - boost::lexical_cast (expected), - boost::lexical_cast (actual))); + std::to_string(expected), + std::to_string(actual))); return false; @@ -64,7 +62,7 @@ bool Test::check(const std::string& expected, const std::string& actual, TestRes result.addFailure ( Failure ( name_, - boost::lexical_cast (__FILE__), + std::string(__FILE__), __LINE__, expected, actual)); diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index a898c83ef..040b812de 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -23,7 +23,7 @@ #include -#include +#include class TestResult; @@ -32,7 +32,7 @@ class Test public: Test (const std::string& testName); Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck); - virtual ~Test() {}; + virtual ~Test() {} virtual void run (TestResult& result) = 0; @@ -63,7 +63,6 @@ protected: #define TEST(testGroup, testName)\ class testGroup##testName##Test : public Test \ { public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \ - virtual ~testGroup##testName##Test () {};\ void run (TestResult& result_) override;} \ testGroup##testName##Instance; \ void testGroup##testName##Test::run (TestResult& result_) @@ -112,17 +111,17 @@ protected: #define THROWS_EXCEPTION(condition)\ { try { condition; \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + boost::lexical_cast(#condition))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + std::string(#condition))); \ return; } \ catch (...) {} } #define CHECK_EXCEPTION(condition, exception_name)\ { try { condition; \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + boost::lexical_cast(#condition))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + std::string(#condition))); \ return; } \ catch (exception_name&) {} \ catch (...) { \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Wrong exception: ") + boost::lexical_cast(#condition) + boost::lexical_cast(", expected: ") + boost::lexical_cast(#exception_name))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Wrong exception: ") + std::string(#condition) + std::string(", expected: ") + std::string(#exception_name))); \ return; } } #define EQUALITY(expected,actual)\ @@ -130,21 +129,21 @@ protected: result_.addFailure(Failure(name_, __FILE__, __LINE__, #expected, #actual)); } #define CHECK_EQUAL(expected,actual)\ -{ if ((expected) == (actual)) return; result_.addFailure(Failure(name_, __FILE__, __LINE__, boost::lexical_cast(expected), boost::lexical_cast(actual))); } +{ if ((expected) == (actual)) return; result_.addFailure(Failure(name_, __FILE__, __LINE__, std::to_string(expected), std::to_string(actual))); } #define LONGS_EQUAL(expected,actual)\ { long actualTemp = actual; \ long expectedTemp = expected; \ if ((expectedTemp) != (actualTemp)) \ -{ result_.addFailure (Failure (name_, __FILE__, __LINE__, boost::lexical_cast(expectedTemp), \ -boost::lexical_cast(actualTemp))); return; } } +{ result_.addFailure (Failure (name_, __FILE__, __LINE__, std::to_string(expectedTemp), \ +std::to_string(actualTemp))); return; } } #define DOUBLES_EQUAL(expected,actual,threshold)\ { double actualTemp = actual; \ double expectedTemp = expected; \ if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \ { result_.addFailure (Failure (name_, __FILE__, __LINE__, \ -boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); return; } } +std::to_string((double)expectedTemp), std::to_string((double)actualTemp))); return; } } /* EXPECTs: tests will continue running after a failure */ @@ -156,15 +155,15 @@ boost::lexical_cast((double)expectedTemp), boost::lexical_cast(expectedTemp), \ -boost::lexical_cast(actualTemp))); } } +{ result_.addFailure (Failure (name_, __FILE__, __LINE__, std::to_string(expectedTemp), \ +std::to_string(actualTemp))); } } #define EXPECT_DOUBLES_EQUAL(expected,actual,threshold)\ { double actualTemp = actual; \ double expectedTemp = expected; \ if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \ { result_.addFailure (Failure (name_, __FILE__, __LINE__, \ -boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); } } +std::to_string((double)expectedTemp), std::to_string((double)actualTemp))); } } #define FAIL(text) \ diff --git a/CppUnitLite/TestResult.h b/CppUnitLite/TestResult.h index 3897d2990..cae492145 100644 --- a/CppUnitLite/TestResult.h +++ b/CppUnitLite/TestResult.h @@ -27,7 +27,7 @@ class TestResult { public: TestResult (); - virtual ~TestResult() {}; + virtual ~TestResult() {} virtual void testsStarted (); virtual void addFailure (const Failure& failure); virtual void testsEnded (); diff --git a/DEVELOP.md b/DEVELOP.md index 7cd303373..fdfb4a340 100644 --- a/DEVELOP.md +++ b/DEVELOP.md @@ -3,8 +3,8 @@ ### Coding Conventions * Classes are Uppercase, methods and functions lowerMixedCase. -* We use a modified K&R Style, with 2-space tabs, inserting spaces for tabs. -* Use meaningful variable names, e.g. `measurement` not `msm`. +* Apart from those naming conventions, we adopt Google C++ style. +* Use meaningful variable names, e.g. `measurement` not `msm`, avoid abbreviations. ### Windows diff --git a/GTSAM-Concepts.md b/GTSAM-Concepts.md index 953357ede..9911b3764 100644 --- a/GTSAM-Concepts.md +++ b/GTSAM-Concepts.md @@ -166,7 +166,7 @@ Concept Checks Boost provides a nice way to check whether a given type satisfies a concept. For example, the following - BOOST_CONCEPT_ASSERT(IsVectorSpace) + GTSAM_CONCEPT_ASSERT(IsVectorSpace) asserts that Point2 indeed is a model for the VectorSpace concept. diff --git a/INSTALL.md b/INSTALL.md index 1edccd3cd..f148e3718 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -50,7 +50,7 @@ will run up to 10x faster in Release mode! See the end of this document for additional debugging tips. 3. GTSAM has Doxygen documentation. To generate, run 'make doc' from your -build directory. +build directory after setting the `GTSAM_BUILD_DOCS` and `GTSAM_BUILD_[HTML|LATEX]` cmake flags. 4. The instructions below install the library to the default system install path and build all components. From a terminal, starting in the root library folder, diff --git a/README.md b/README.md index b32ce70e0..1ccde9738 100644 --- a/README.md +++ b/README.md @@ -2,9 +2,9 @@ **Important Note** -As of Dec 2021, the `develop` branch is officially in "Pre 4.2" mode. A great new feature we will be adding in 4.2 is *hybrid inference* a la DCSLAM (Kevin Doherty et al) and we envision several API-breaking changes will happen in the discrete folder. +**As of January 2023, the `develop` branch is officially in "Pre 4.3" mode. We envision several API-breaking changes as we switch to C++17 and away from boost.** -In addition, features deprecated in 4.1 will be removed. Please use the last [4.1.1 release](https://github.com/borglab/gtsam/releases/tag/4.1.1) if you need those features. However, most (not all, unfortunately) are easily converted and can be tracked down (in 4.1.1) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`. +In addition, features deprecated in 4.2 will be removed. Please use the last [4.2a8 release](https://github.com/borglab/gtsam/releases/tag/4.2a8) if you need those features. However, most are easily converted and can be tracked down (in 4.2) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`. ## What is GTSAM? @@ -31,11 +31,11 @@ In the root library folder execute: ```sh #!bash -$ mkdir build -$ cd build -$ cmake .. -$ make check (optional, runs unit tests) -$ make install +mkdir build +cd build +cmake .. +make check (optional, runs unit tests) +make install ``` Prerequisites: @@ -55,11 +55,6 @@ Optional prerequisites - used automatically if findable by CMake: GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. -GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods. - -GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. - - ## Wrappers We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details. @@ -68,24 +63,39 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) If you are using GTSAM for academic work, please use the following citation: -``` +```bibtex @software{gtsam, - author = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle}, + author = {Frank Dellaert and GTSAM Contributors}, title = {borglab/gtsam}, - month = may, + month = May, year = 2022, - publisher = {Zenodo}, - version = {4.2a7}, + publisher = {Georgia Tech Borg Lab}, + version = {4.2a8}, doi = {10.5281/zenodo.5794541}, - url = {https://doi.org/10.5281/zenodo.5794541} + url = {https://github.com/borglab/gtsam)}} } ``` -You can also get the latest citation available from Zenodo below: +To cite the `Factor Graphs for Robot Perception` book, please use: +```bibtex +@book{factor_graphs_for_robot_perception, + author={Frank Dellaert and Michael Kaess}, + year={2017}, + title={Factor Graphs for Robot Perception}, + publisher={Foundations and Trends in Robotics, Vol. 6}, + url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf} +} +``` -[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541) +If you are using the IMU preintegration scheme, please cite: +```bibtex +@book{imu_preintegration, + author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}, + title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}, + year={2015} +} +``` -Specific formats are available in the bottom-right corner of the Zenodo page. ## The Preintegrated IMU Factor diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in index 89627a172..cc2a7df8f 100644 --- a/cmake/Config.cmake.in +++ b/cmake/Config.cmake.in @@ -21,6 +21,10 @@ else() find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@) endif() +if(@GTSAM_USE_SYSTEM_EIGEN@) +find_dependency(Eigen3 REQUIRED) +endif() + # Load exports include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake) diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake deleted file mode 100644 index 9c546a05d..000000000 --- a/cmake/FindEigen3.cmake +++ /dev/null @@ -1,81 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") -endif(NOT Eigen3_FIND_VERSION) - -macro(_eigen3_check_version) - file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) - - string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") - set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") - set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") - set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") - - set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) - if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK FALSE) - else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK TRUE) - endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - - if(NOT EIGEN3_VERSION_OK) - - message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " - "but at least version ${Eigen3_FIND_VERSION} is required") - endif(NOT EIGEN3_VERSION_OK) -endmacro(_eigen3_check_version) - -if (EIGEN3_INCLUDE_DIR) - - # in cache already - _eigen3_check_version() - set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) - -else (EIGEN3_INCLUDE_DIR) - - find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library - PATHS - ${CMAKE_INSTALL_PREFIX}/include - ${KDE4_INCLUDE_DIR} - PATH_SUFFIXES eigen3 eigen - ) - - if(EIGEN3_INCLUDE_DIR) - _eigen3_check_version() - endif(EIGEN3_INCLUDE_DIR) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) - - mark_as_advanced(EIGEN3_INCLUDE_DIR) - -endif(EIGEN3_INCLUDE_DIR) - diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index e63fbf1dd..3e8cf7192 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -1,6 +1,6 @@ include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag() -# Set cmake policy to recognize the AppleClang compiler +# Set cmake policy to recognize the Apple Clang compiler # independently from the Clang compiler. if(POLICY CMP0025) cmake_policy(SET CMP0025 NEW) @@ -87,10 +87,13 @@ if(MSVC) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE WINDOWS_LEAN_AND_MEAN NOMINMAX - ) + ) + list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC + _ENABLE_EXTENDED_ALIGNED_STORAGE + ) # Avoid literally hundreds to thousands of warnings: list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC - /wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data + /wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data ) add_compile_options(/wd4005) @@ -126,6 +129,8 @@ else() -fPIC # ensure proper code generation for shared libraries $<$:-Wreturn-local-addr -Werror=return-local-addr> # Error: return local address $<$:-Wreturn-stack-address -Werror=return-stack-address> # Error: return local address + $<$:-Wno-weak-template-vtables> # TODO(dellaert): don't know how to resolve + $<$:-Wno-weak-vtables> # TODO(dellaert): don't know how to resolve -Wreturn-type -Werror=return-type # Error on missing return() -Wformat -Werror=format-security # Error on wrong printf() arguments $<$:${flag_override_}> # Enforce the use of the override keyword @@ -138,16 +143,19 @@ else() set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING -g -O3 CACHE STRING "(User editable) Private compiler flags for Timing configuration.") endif() -# Enable C++11: +# Enable C++17: if (NOT CMAKE_VERSION VERSION_LESS 3.8) - set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_11" CACHE STRING "CMake compile features property for all gtsam targets.") + set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.") # See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html - # This is to enable -std=c++11 instead of -std=g++11 set(CMAKE_CXX_EXTENSIONS OFF) + if (MSVC) + # NOTE(jlblanco): seems to be required in addition to the cxx_std_17 above? + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++latest) + endif() else() # Old cmake versions: if (NOT MSVC) - list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$:-std=c++11>) + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$:-std=c++17>) endif() endif() @@ -183,19 +191,43 @@ set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING}) # Clang uses a template depth that is less than standard and is too small if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang") - # Apple Clang before 5.0 does not support -ftemplate-depth. - if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0")) - list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024") - endif() + # Apple Clang before 5.0 does not support -ftemplate-depth. + if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0")) + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024") + endif() endif() if (NOT MSVC) option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF) - if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")) - # Add as public flag so all dependant projects also use it, as required - # by Eigen to avid crashes due to SIMD vectorization: - list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native") - endif() + if(GTSAM_BUILD_WITH_MARCH_NATIVE) + # Check if Apple OS and compiler is [Apple]Clang + if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$")) + # Check Clang version since march=native is only supported for version 15.0+. + if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "15.0") + if(NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64") + # Add as public flag so all dependent projects also use it, as required + # by Eigen to avoid crashes due to SIMD vectorization: + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native") + else() + message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported for Apple silicon and AppleClang version < 15.0.") + endif() # CMAKE_SYSTEM_PROCESSOR + else() + # Add as public flag so all dependent projects also use it, as required + # by Eigen to avoid crashes due to SIMD vectorization: + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native") + endif() # CMAKE_CXX_COMPILER_VERSION + else() + include(CheckCXXCompilerFlag) + CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE) + if(COMPILER_SUPPORTS_MARCH_NATIVE) + # Add as public flag so all dependent projects also use it, as required + # by Eigen to avoid crashes due to SIMD vectorization: + list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native") + else() + message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported.") + endif() # COMPILER_SUPPORTS_MARCH_NATIVE + endif() # APPLE + endif() # GTSAM_BUILD_WITH_MARCH_NATIVE endif() # Set up build type library postfixes diff --git a/cmake/GtsamPrinting.cmake b/cmake/GtsamPrinting.cmake index c68679667..2181652e5 100644 --- a/cmake/GtsamPrinting.cmake +++ b/cmake/GtsamPrinting.cmake @@ -51,11 +51,10 @@ function(print_build_options_for_target target_name_) # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE) print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC) - foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES}) - string(TOUPPER "${build_type}" build_type_toupper) - # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper}) - print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper}) - # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper}) - print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper}) - endforeach() + string(TOUPPER "${CMAKE_BUILD_TYPE}" build_type_toupper) + # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper}) + print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper}) + # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper}) + print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper}) + endfunction() diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake index c49eb4f8e..707593889 100644 --- a/cmake/HandleEigen.cmake +++ b/cmake/HandleEigen.cmake @@ -1,10 +1,6 @@ ############################################################################### # Option for using system Eigen or GTSAM-bundled Eigen -# Default: Use system's Eigen if found automatically: -find_package(Eigen3 QUIET) -set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND}) -option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE}) -unset(USE_SYSTEM_EIGEN_INITIAL_VALUE) +option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) if(NOT GTSAM_USE_SYSTEM_EIGEN) # This option only makes sense if using the embedded copy of Eigen, it is @@ -14,10 +10,14 @@ endif() # Switch for using system Eigen or GTSAM-bundled Eigen if(GTSAM_USE_SYSTEM_EIGEN) - find_package(Eigen3 REQUIRED) # need to find again as REQUIRED + # Since Eigen 3.3.0 a Eigen3Config.cmake is available so use it. + find_package(Eigen3 CONFIG REQUIRED) # need to find again as REQUIRED - # Use generic Eigen include paths e.g. - set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}") + # The actual include directory (for BUILD cmake target interface): + # Note: EIGEN3_INCLUDE_DIR points to some random location on some eigen + # versions. So here I use the target itself to get the proper include + # directory (it is generated by cmake, thus has the correct path) + get_target_property(GTSAM_EIGEN_INCLUDE_FOR_BUILD Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES) # check if MKL is also enabled - can have one or the other, but not both! # Note: Eigen >= v3.2.5 includes our patches @@ -30,9 +30,6 @@ if(GTSAM_USE_SYSTEM_EIGEN) if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4)) message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.") endif() - - # The actual include directory (for BUILD cmake target interface): - set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}") else() # Use bundled Eigen include path. # Clear any variables set by FindEigen3 @@ -45,7 +42,20 @@ else() set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") # The actual include directory (for BUILD cmake target interface): - set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/") + set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen") + + add_library(gtsam_eigen3 INTERFACE) + + target_include_directories(gtsam_eigen3 INTERFACE + $ + $ + ) + add_library(Eigen3::Eigen ALIAS gtsam_eigen3) + + install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) + + list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3) + set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}") endif() # Detect Eigen version: @@ -72,7 +82,7 @@ else() endif () if (MSVC) - if (BUILD_SHARED_LIBS) + if (GTSAM_SHARED_LIB) # mute eigen static assert to avoid errors in shared lib list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) endif() diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake index 7c8f8533f..0753667c5 100644 --- a/cmake/HandleGeneralOptions.cmake +++ b/cmake/HandleGeneralOptions.cmake @@ -14,7 +14,8 @@ if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF) endif() -option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) +option(GTSAM_FORCE_SHARED_LIB "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF) +option(GTSAM_FORCE_STATIC_LIB "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON) @@ -25,10 +26,29 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will a option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF) option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) -option(GTSAM_ALLOW_DEPRECATED_SINCE_V42 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) +option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions deprecated in GTSAM 4.3" ON) option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF) + +if (GTSAM_FORCE_SHARED_LIB) + message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB") + set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE) + set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE) +elseif (GTSAM_FORCE_STATIC_LIB) + message(STATUS "GTSAM is a static library due to GTSAM_FORCE_STATIC_LIB") + set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE) + set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE) +elseif (BUILD_SHARED_LIBS) + message(STATUS "GTSAM is a shared library due to BUILD_SHARED_LIBS is ON") + set(GTSAM_LIBRARY_TYPE SHARED CACHE STRING "" FORCE) + set(GTSAM_SHARED_LIB 1 CACHE BOOL "" FORCE) +else() + message(STATUS "GTSAM is a static library due to BUILD_SHARED_LIBS is OFF") + set(GTSAM_LIBRARY_TYPE STATIC CACHE STRING "" FORCE) + set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE) +endif() + if(NOT MSVC AND NOT XCODE_VERSION) option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON) endif() diff --git a/cmake/HandleGlobalBuildFlags.cmake b/cmake/HandleGlobalBuildFlags.cmake index f33e12b94..cb48f875b 100644 --- a/cmake/HandleGlobalBuildFlags.cmake +++ b/cmake/HandleGlobalBuildFlags.cmake @@ -14,11 +14,11 @@ endif() # or explicit instantiation will generate build errors. # See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017 # -if(MSVC AND BUILD_SHARED_LIBS) +if(MSVC AND GTSAM_SHARED_LIB) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) endif() -if (APPLE AND BUILD_SHARED_LIBS) +if (APPLE AND GTSAM_SHARED_LIB) # Set the default install directory on macOS set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") endif() diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake index 04d27c27f..b17d522d9 100644 --- a/cmake/HandlePrintConfiguration.cmake +++ b/cmake/HandlePrintConfiguration.cmake @@ -14,7 +14,7 @@ print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts if (DOXYGEN_FOUND) print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs") endif() -print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries") +print_enabled_config(${GTSAM_SHARED_LIB} "Build shared GTSAM libraries") print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name") if(GTSAM_UNSTABLE_AVAILABLE) print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") @@ -29,6 +29,8 @@ if(NOT MSVC AND NOT XCODE_VERSION) print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") endif() +print_config("Enable Boost serialization" "${GTSAM_ENABLE_BOOST_SERIALIZATION}") + print_build_options_for_target(gtsam) print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") @@ -87,7 +89,7 @@ print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as defaul print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ") -print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V42} "Allow features deprecated in GTSAM 4.1") +print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43} "Allow features deprecated in GTSAM 4.3") print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ") print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration") diff --git a/cmake/HandleTBB.cmake b/cmake/HandleTBB.cmake index 52ee75494..fb944ba5b 100644 --- a/cmake/HandleTBB.cmake +++ b/cmake/HandleTBB.cmake @@ -7,10 +7,6 @@ if (GTSAM_WITH_TBB) if(TBB_FOUND) set(GTSAM_USE_TBB 1) # This will go into config.h -# if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1")) -# message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.") -# endif() - if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) set(TBB_GREATER_EQUAL_2020 1) else() diff --git a/cmake/dllexport.h.in b/cmake/dllexport.h.in index 7d757edea..2ec4fcfb1 100644 --- a/cmake/dllexport.h.in +++ b/cmake/dllexport.h.in @@ -31,10 +31,10 @@ // Whether GTSAM is compiled as static or DLL in windows. // This will be used to decide whether include __declspec(dllimport) or not in headers -#cmakedefine BUILD_SHARED_LIBS +#cmakedefine GTSAM_SHARED_LIB #ifdef _WIN32 -# ifndef BUILD_SHARED_LIBS +# ifndef GTSAM_SHARED_LIB # define @library_name@_EXPORT # define @library_name@_EXTERN_EXPORT extern # else @@ -56,5 +56,5 @@ #endif #endif -#undef BUILD_SHARED_LIBS +#undef GTSAM_SHARED_LIB diff --git a/cmake/example_cmake_find_gtsam/CMakeLists.txt b/cmake/example_cmake_find_gtsam/CMakeLists.txt index 9a4be4d70..d020f7032 100644 --- a/cmake/example_cmake_find_gtsam/CMakeLists.txt +++ b/cmake/example_cmake_find_gtsam/CMakeLists.txt @@ -12,6 +12,6 @@ add_executable(example ) # By using CMake exported targets, a simple "link" dependency introduces the -# include directories (-I) flags, links against Boost, and add any other +# include directories (-I) flags, and add any other # required build flags (e.g. C++11, etc.) target_link_libraries(example PRIVATE gtsam) diff --git a/cmake/obsolete/GtsamTestingObsolete.cmake b/cmake/obsolete/GtsamTestingObsolete.cmake index c90abfa6c..be9de93bd 100644 --- a/cmake/obsolete/GtsamTestingObsolete.cmake +++ b/cmake/obsolete/GtsamTestingObsolete.cmake @@ -2,7 +2,7 @@ # Macro for adding categorized tests in a "tests" folder, with # optional exclusion of tests and convenience library linking options # -# By default, all tests are linked with CppUnitLite and boost +# By default, all tests are linked with CppUnitLite # Arguments: # - subdir The name of the category for this test # - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true) @@ -32,7 +32,6 @@ endfunction() # Macro for adding categorized timing scripts in a "tests" folder, with # optional exclusion of tests and convenience library linking options # -# By default, all tests are linked with boost # Arguments: # - subdir The name of the category for this timing script # - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true) @@ -51,8 +50,7 @@ macro(gtsam_add_subdir_timing subdir local_libs full_libs excluded_srcs) endmacro() # Macro for adding executables matching a pattern - builds one executable for -# each file matching the pattern. These exectuables are automatically linked -# with boost. +# each file matching the pattern. # Arguments: # - pattern The glob pattern to match source files # - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true) @@ -138,9 +136,9 @@ macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name l # Linking and dependendencies if (GTSAM_BUILD_CONVENIENCE_LIBRARIES) - target_link_libraries(${script_bin} ${local_libs} ${GTSAM_BOOST_LIBRARIES}) + target_link_libraries(${script_bin} ${local_libs}) else() - target_link_libraries(${script_bin} ${full_libs} ${GTSAM_BOOST_LIBRARIES}) + target_link_libraries(${script_bin} ${full_libs}) endif() # Add .run target diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index 2218addcf..f0975821f 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -26,6 +26,7 @@ if (GTSAM_BUILD_DOCS) gtsam/basis gtsam/discrete gtsam/geometry + gtsam/hybrid gtsam/inference gtsam/linear gtsam/navigation @@ -33,7 +34,6 @@ if (GTSAM_BUILD_DOCS) gtsam/sam gtsam/sfm gtsam/slam - gtsam/smart gtsam/symbolic gtsam ) @@ -42,10 +42,12 @@ if (GTSAM_BUILD_DOCS) set(gtsam_unstable_doc_subdirs gtsam_unstable/base gtsam_unstable/discrete + gtsam_unstable/dynamics + gtsam_unstable/geometry gtsam_unstable/linear - gtsam_unstable/nonlinear - gtsam_unstable/slam - gtsam_unstable/dynamics + gtsam_unstable/nonlinear + gtsam_unstable/partition + gtsam_unstable/slam gtsam_unstable ) diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp index 2c1f01c43..14f2abd1a 100644 --- a/doc/Code/LocalizationFactor.cpp +++ b/doc/Code/LocalizationFactor.cpp @@ -2,11 +2,14 @@ class UnaryFactor: public NoiseModelFactor1 { double mx_, my_; ///< X and Y measurements public: + + // Provide access to the Matrix& version of evaluateError: + using gtsam::NoiseModelFactor1::evaluateError; + UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): NoiseModelFactor1(model, j), mx_(x), my_(y) {} - Vector evaluateError(const Pose2& q, - boost::optional H = boost::none) const override { + Vector evaluateError(const Pose2& q, OptionalMatrixType H) const override { const Rot2& R = q.rotation(); if (H) (*H) = (gtsam::Matrix(2, 3) << R.c(), -R.s(), 0.0, diff --git a/doc/CodingGuidelines.lyx b/doc/CodingGuidelines.lyx index 6d0b6eb1e..ce083df6c 100644 --- a/doc/CodingGuidelines.lyx +++ b/doc/CodingGuidelines.lyx @@ -271,7 +271,7 @@ color{red}{// Make 'private' any typedefs that must be redefined in derived \begin_layout Plain Layout - typedef boost::shared_ptr shared_ptr; ///< Shared pointer to + typedef std::shared_ptr shared_ptr; ///< Shared pointer to this \end_layout @@ -304,7 +304,7 @@ color{red}{// Make 'public' the typedefs that will be valid in the derived \begin_layout Plain Layout - typedef boost::shared_ptr sharedFactor; ///< Shared pointer + typedef std::shared_ptr sharedFactor; ///< Shared pointer to a factor \end_layout diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in index 12193d0be..0f789be66 100644 --- a/doc/Doxyfile.in +++ b/doc/Doxyfile.in @@ -1,104 +1,143 @@ -# Doxyfile 1.7.5.1 +# Doxyfile 1.9.4 # This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project +# doxygen (www.doxygen.org) for a project. # -# All text after a hash (#) is considered a comment and will be ignored +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. # The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables: +# doxygen -x_noenv [configFile] #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. DOXYFILE_ENCODING = UTF-8 -# The PROJECT_NAME tag is a single word (or sequence of words) that should -# identify the project. Note that if you do not use Doxywizard you need -# to put quotes around the project name if it contains spaces. +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. PROJECT_NAME = gtsam -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. PROJECT_NUMBER = @GTSAM_VERSION_MAJOR@.@GTSAM_VERSION_MINOR@.@GTSAM_VERSION_PATCH@ -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer -# a quick idea about the purpose of the project. Keep the description short. +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. PROJECT_BRIEF = gtsam -# With the PROJECT_LOGO tag one can specify an logo or icon that is -# included in the documentation. The maximum height of the logo should not -# exceed 55 pixels and the maximum width should not exceed 200 pixels. -# Doxygen will copy the logo to the output directory. +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. -PROJECT_LOGO = +PROJECT_LOGO = -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location -# where doxygen was started. If left blank the current directory will be used. +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. OUTPUT_DIRECTORY = . -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would -# otherwise cause performance problems for the file system. +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096 +# sub-directories (in 2 levels) under the output directory of each output format +# and will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to +# control the number of sub-directories. +# The default value is: NO. CREATE_SUBDIRS = NO -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, -# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. +# Controls the number of sub-directories that will be created when +# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every +# level increment doubles the number of directories, resulting in 4096 +# directories at level 8 which is the default and also the maximum value. The +# sub-directories are organized in 2 levels, the first level always has a fixed +# numer of 16 directories. +# Minimum value: 0, maximum value: 8, default value: 8. +# This tag requires that the tag CREATE_SUBDIRS is set to YES. + +CREATE_SUBDIRS_LEVEL = 8 + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian, +# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English +# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek, +# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with +# English messages), Korean, Korean-en (Korean with English messages), Latvian, +# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, +# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, +# Swedish, Turkish, Ukrainian and Vietnamese. +# The default value is: English. OUTPUT_LANGUAGE = English -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. BRIEF_MEMBER_DESC = YES -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. +# The default value is: YES. REPEAT_BRIEF = YES -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" -# "represents" "a" "an" "the" +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. ABBREVIATE_BRIEF = "The $name class" \ "The $name widget" \ @@ -112,549 +151,789 @@ ABBREVIATE_BRIEF = "The $name class" \ an \ the -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief # description. +# The default value is: NO. ALWAYS_DETAILED_SEC = NO -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. +# The default value is: NO. INLINE_INHERITED_MEMB = NO -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. FULL_PATH_NAMES = YES -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the -# path to strip. +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. -STRIP_FROM_PATH = +STRIP_FROM_PATH = -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that -# are normally passed to the compiler using the -I flag. +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful if your file system -# doesn't support long names like on DOS, Mac, or CD-ROM. +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. SHORT_NAMES = YES -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments -# (thus requiring an explicit @brief command for a brief description.) +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. JAVADOC_AUTOBRIEF = YES -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring -# an explicit \brief command for a brief description.) +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. QT_AUTOBRIEF = NO -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. MULTILINE_CPP_IS_BRIEF = NO -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# re-implements. +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. INHERIT_DOCS = YES -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will -# be part of the file/class/namespace that contains it. +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. SEPARATE_MEMBER_PAGES = NO -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. TAB_SIZE = 8 -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) -ALIASES = +ALIASES = -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list -# of all members will be omitted, etc. +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. OPTIMIZE_OUTPUT_FOR_C = NO -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified -# scopes will look different, etc. +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. OPTIMIZE_OUTPUT_JAVA = NO -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for -# Fortran. +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. OPTIMIZE_FOR_FORTRAN = NO -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for -# VHDL. +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. OPTIMIZE_OUTPUT_VHDL = NO -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this -# tag. The format is ext=language, where ext is a file extension, and language -# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, -# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions -# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. -EXTENSION_MAPPING = +OPTIMIZE_OUTPUT_SLICE = NO -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also makes the inheritance and collaboration +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. +# The default value is: NO. BUILTIN_STL_SUPPORT = YES -# If you use Microsoft's C++/CLI language, you should set this option to YES to +# If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. +# The default value is: NO. CPP_CLI_SUPPORT = NO -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public -# instead of private inheritance when no explicit protection keyword is present. +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. SIP_SUPPORT = NO -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the -# methods anyway, you should set this option to NO. +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. IDL_PROPERTY_SUPPORT = YES -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. +# The default value is: NO. DISTRIBUTE_GROUP_DOC = NO -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using -# the \nosubgrouping command. +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. SUBGROUPING = YES -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and -# unions are shown inside the group in which they are included (e.g. using -# @ingroup) instead of on a separate page (for HTML and Man pages) or -# section (for LaTeX and RTF). +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. INLINE_GROUPED_CLASSES = NO -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and -# unions with only public data fields will be shown inline in the documentation -# of the scope in which they are defined (i.e. file, namespace, or group -# documentation), provided this scope is documented. If set to NO (the default), -# structs, classes, and unions are shown on a separate page (for HTML and Man -# pages) or section (for LaTeX and RTF). +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. INLINE_SIMPLE_STRUCTS = NO -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. TYPEDEF_HIDES_STRUCT = NO -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penalty. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will roughly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, -# corresponding to a cache size of 2^16 = 65536 symbols +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. -SYMBOL_CACHE_SIZE = 0 +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. EXTRACT_ALL = NO -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. EXTRACT_PRIVATE = NO -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. EXTRACT_STATIC = NO -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. EXTRACT_LOCAL_CLASSES = NO -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. EXTRACT_LOCAL_METHODS = NO -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespaces are hidden. +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. EXTRACT_ANON_NSPACES = NO -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. HIDE_UNDOC_MEMBERS = NO -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. HIDE_UNDOC_CLASSES = NO -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the # documentation. +# The default value is: NO. HIDE_FRIEND_COMPOUNDS = NO -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. HIDE_IN_BODY_DOCS = NO -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# The default value is: system dependent. CASE_SENSE_NAMES = NO -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. HIDE_SCOPE_NAMES = NO -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. SHOW_INCLUDE_FILES = NO -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation -# rather than with sharp brackets. +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. FORCE_LOCAL_INCLUDES = NO -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. INLINE_INFO = YES -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. SORT_MEMBER_DOCS = YES -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. SORT_BRIEF_DOCS = NO -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO -# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. SORT_MEMBERS_CTORS_1ST = NO -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. SORT_GROUP_NAMES = NO -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. SORT_BY_SCOPE_NAME = NO -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen -# will still accept a match between prototype and implementation in such cases. +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. STRICT_PROTO_MATCHING = NO -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. GENERATE_TODOLIST = YES -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. GENERATE_TESTLIST = YES -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. GENERATE_BUGLIST = YES -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. GENERATE_DEPRECATEDLIST= YES -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if sectionname ... \endif. +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. -ENABLED_SECTIONS = +ENABLED_SECTIONS = -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. MAX_INITIALIZER_LINES = 30 -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the # list will mention the files that were used to generate the documentation. +# The default value is: YES. SHOW_USED_FILES = YES -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy -# in the documentation. The default is NO. - -SHOW_DIRECTORIES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. SHOW_FILES = YES -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. SHOW_NAMESPACES = YES -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. The create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted -# DoxygenLayout.xml will be used as the name of the layout file. +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. LAYOUT_FILE = DoxygenLayout.xml -# The CITE_BIB_FILES tag can be used to specify one or more bib files -# containing the references data. This must be a list of .bib files. The -# .bib extension is automatically appended if omitted. Using this command -# requires the bibtex tool to be installed. See also -# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style -# of the bibliography can be controlled using LATEX_BIB_STYLE. +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. -CITE_BIB_FILES = +CITE_BIB_FILES = #--------------------------------------------------------------------------- -# configuration options related to warning and progress messages +# Configuration options related to warning and progress messages #--------------------------------------------------------------------------- -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. QUIET = NO -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. WARNINGS = YES -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. WARN_IF_UNDOCUMENTED = NO -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. WARN_IF_DOC_ERROR = YES -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. WARN_NO_PARAMDOC = NO -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. WARN_FORMAT = "$file:$line: $text" -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. -WARN_LOGFILE = +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). + +WARN_LOGFILE = #--------------------------------------------------------------------------- -# configuration options related to the input files +# Configuration options related to the input files #--------------------------------------------------------------------------- -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. INPUT = @GTSAM_DOXYGEN_INPUT_PATHS@ -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# The default value is: UTF-8. INPUT_ENCODING = UTF-8 -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py -# *.f90 *.f *.for *.vhd *.vhdl +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, +# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C +# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. FILE_PATTERNS = *.c \ *.cc \ @@ -689,1101 +968,1711 @@ FILE_PATTERNS = *.c \ *.vhd \ *.vhdl -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. RECURSIVE = NO -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# Note that relative paths are relative to directory from which doxygen is run. +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. -EXCLUDE = +EXCLUDE = -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded # from the input. +# The default value is: NO. EXCLUDE_SYMLINKS = NO -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# ANamespace::AClass, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* -EXCLUDE_SYMBOLS = +EXCLUDE_SYMBOLS = -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). -EXAMPLE_PATH = +EXAMPLE_PATH = -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. EXAMPLE_PATTERNS = * -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. EXAMPLE_RECURSIVE = NO -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). -IMAGE_PATH = +IMAGE_PATH = -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be -# ignored. +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. -INPUT_FILTER = +INPUT_FILTER = -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if -# non of the patterns match the file name, INPUT_FILTER is applied. +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. -FILTER_PATTERNS = +FILTER_PATTERNS = -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. FILTER_SOURCE_FILES = NO -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when -# FILTER_SOURCE_FILES is enabled. +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. -FILTER_SOURCE_PATTERNS = +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = #--------------------------------------------------------------------------- -# configuration options related to source browsing +# Configuration options related to source browsing #--------------------------------------------------------------------------- -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. SOURCE_BROWSER = NO -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. INLINE_SOURCES = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. STRIP_CODE_COMMENTS = YES -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. REFERENCED_BY_RELATION = NO -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. REFERENCES_RELATION = NO -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. Otherwise they will link to the documentation. +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. REFERENCES_LINK_SOURCE = YES -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. USE_HTAGS = NO -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index +# Configuration options related to the alphabetical class index #--------------------------------------------------------------------------- -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. ALPHABETICAL_INDEX = YES -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- -# configuration options related to the HTML output +# Configuration options related to the HTML output #--------------------------------------------------------------------------- -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. GENERATE_HTML = @GTSAM_BUILD_DOC_HTML_YN@ -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_OUTPUT = html -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_FILE_EXTENSION = .html -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is adviced to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically -# have to redo this when upgrading to a newer version of doxygen or when -# changing the value of configuration settings such as GENERATE_TREEVIEW! +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_HEADER = +HTML_HEADER = -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_FOOTER = +HTML_FOOTER = -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own -# stylesheet in the HTML output directory as well, or it will be erased! +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_STYLESHEET = +HTML_STYLESHEET = -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that -# the files will be copied as-is; there are no commands or markers available. +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_EXTRA_FILES = +HTML_EXTRA_STYLESHEET = -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the stylesheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. -# The allowed range is 0 to 359. +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_HUE = 220 -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use -# grayscales only. A value of 255 will produce the most vivid colors. +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_SAT = 100 -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, -# and 100 does not change the gamma. +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_GAMMA = 80 -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting -# this to NO can help when comparing the output of multiple runs. +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_TIMESTAMP = YES -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to -# NO a bullet list will be used. +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_ALIGN_MEMBERS = YES +HTML_DYNAMIC_MENUS = YES -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. For this to work a browser that supports -# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox -# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_DYNAMIC_SECTIONS = YES -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_DOCSET = NO -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_FEEDNAME = "Doxygen generated docs" -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_BUNDLE_ID = org.doxygen.Project -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style # string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_ID = org.doxygen.Publisher -# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_NAME = Publisher -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_HTMLHELP = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be # written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. -CHM_FILE = +CHM_FILE = -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. -HHC_LOCATION = +HHC_LOCATION = -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. GENERATE_CHI = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. -CHM_INDEX_ENCODING = +CHM_INDEX_ENCODING = -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. BINARY_TOC = NO -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. TOC_EXPAND = NO -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a -# Qt Compressed Help (.qch) of the generated HTML documentation. +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_QHP = NO -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. -QCH_FILE = +QCH_FILE = -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_NAMESPACE = org.doxygen.Project -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_VIRTUAL_FOLDER = doc -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. -QHP_CUST_FILTER_NAME = +QHP_CUST_FILTER_NAME = -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# -# Qt Help Project / Custom Filters. +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. -QHP_CUST_FILTER_ATTRS = +QHP_CUST_FILTER_ATTRS = -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# -# Qt Help Project / Filter Attributes. +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. -QHP_SECT_FILTER_ATTRS = +QHP_SECT_FILTER_ATTRS = -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. -QHG_LOCATION = +QHG_LOCATION = -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before -# the help appears. +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_ECLIPSEHELP = NO -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have -# this name. +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. ECLIPSE_DOC_ID = org.doxygen.Project -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. DISABLE_INDEX = NO -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum -# values from appearing in the overview section. - -ENUM_VALUES_PER_LINE = 4 - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_TREEVIEW = YES -# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, -# and Class Hierarchy pages using a tree view instead of an ordered list. +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. -USE_INLINE_TREES = NO +FULL_SIDEBAR = NO -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. TREEVIEW_WIDTH = 250 -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open -# links to external symbols imported via tag files in a separate window. +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. EXT_LINKS_IN_WINDOW = NO -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files -# in the HTML output before the changes have effect. +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. FORMULA_TRANSPARENT = YES -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you also need to install MathJax separately and -# configure the path to it using the MATHJAX_RELPATH option. +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. USE_MATHJAX = YES -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the -# mathjax.org site, so you can quickly see the result without installing -# MathJax, but it is strongly recommended to install a local copy of MathJax -# before deployment. +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. -# MATHJAX_RELPATH = https://cdn.mathjax.org/mathjax/latest +MATHJAX_VERSION = MathJax_2 -# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension -# names that should be enabled during MathJax rendering. +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. -MATHJAX_EXTENSIONS = +MATHJAX_FORMAT = HTML-CSS -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine -# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /