From c9bcceef2f01e9eb5e22fa172c6d4cbb6171124e Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Sun, 12 Jan 2020 11:34:02 -0500
Subject: [PATCH 01/17] add tbb to travis-ci

---
 .travis.yml | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index 14fe66ac1..e4e1a3440 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,6 +16,7 @@ addons:
     - cmake
     - libpython-dev python-numpy
     - libboost-all-dev
+    - libtbb-dev
 
 # before_install:
 #  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update          ; fi
@@ -43,7 +44,7 @@ jobs:
   - stage: compile
     os: osx
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: osx
@@ -54,7 +55,7 @@ jobs:
   - stage: compile
     os: osx
     compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: osx
@@ -65,7 +66,7 @@ jobs:
   - stage: compile
     os: linux
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: linux
@@ -76,7 +77,7 @@ jobs:
   - stage: compile
     os: linux
     compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: linux
@@ -87,7 +88,13 @@ jobs:
   - stage: special
     os: linux
     compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
+    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON GTSAM_WITH_TBB=OFF
+    script: bash .travis.sh -b
+# on Linux, with GTSAM_WITH_TBB not off to make sure GTSAM still compiles/tests
+  - stage: special
+    os: linux
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -b
 # -------- STAGE 2: TESTS -----------
 # on Mac, GCC
@@ -99,7 +106,7 @@ jobs:
   - stage: test
     os: osx
     compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -t
   - stage: test
     os: linux
@@ -109,7 +116,7 @@ jobs:
   - stage: test
     os: linux
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
     script: bash .travis.sh -t
   - stage: test
     os: linux

From 6ec13bdcd5370fbe4022a37ec61d6b9c18710662 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Sun, 12 Jan 2020 14:19:40 -0500
Subject: [PATCH 02/17] add tbb version guard to fix clang build

(cherry picked from commit 9b912f6b14d2cf715d17208df35b8253d5e648e7)
---
 CMakeLists.txt                |  5 +++++
 gtsam/linear/VectorValues.cpp | 28 ++++++++++++++++++++++++++++
 gtsam/linear/VectorValues.h   |  6 +++++-
 3 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c84835d82..56250a12c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -200,6 +200,11 @@ find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
 # Set up variables if we're using TBB
 if(TBB_FOUND AND GTSAM_WITH_TBB)
 	set(GTSAM_USE_TBB 1)  # This will go into config.h
+       if (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020)
+           set(TBB_GREATER_EQUAL_2020 1)
+       else()
+           set(TBB_GREATER_EQUAL_2020 0)
+       endif()
   # all definitions and link requisites will go via imported targets:
   # tbb & tbbmalloc
   list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp
index f18ad9c5f..e74d3776d 100644
--- a/gtsam/linear/VectorValues.cpp
+++ b/gtsam/linear/VectorValues.cpp
@@ -51,7 +51,11 @@ namespace gtsam {
       Key key;
       size_t n;
       boost::tie(key, n) = v;
+#ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(key, x.segment(j, n));
+#else
+      values_.insert(std::make_pair(key, x.segment(j, n)));
+#endif
       j += n;
     }
   }
@@ -60,7 +64,11 @@ namespace gtsam {
   VectorValues::VectorValues(const Vector& x, const Scatter& scatter) {
     size_t j = 0;
     for (const SlotEntry& v : scatter) {
+#ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(v.key, x.segment(j, v.dimension));
+#else
+      values_.insert(std::make_pair(v.key, x.segment(j, v.dimension)));
+#endif
       j += v.dimension;
     }
   }
@@ -70,7 +78,11 @@ namespace gtsam {
   {
     VectorValues result;
     for(const KeyValuePair& v: other)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(v.first, Vector::Zero(v.second.size()));
+#else
+      result.values_.insert(std::make_pair(v.first, Vector::Zero(v.second.size())));
+#endif
     return result;
   }
 
@@ -86,7 +98,11 @@ namespace gtsam {
 
   /* ************************************************************************* */
   VectorValues::iterator VectorValues::emplace(Key j, const Vector& value) {
+#ifdef TBB_GREATER_EQUAL_2020
     std::pair<iterator, bool> result = values_.emplace(j, value);
+#else
+    std::pair<iterator, bool> result = values_.insert(std::make_pair(j, value));
+#endif
     if(!result.second)
       throw std::invalid_argument(
       "Requested to emplace variable '" + DefaultKeyFormatter(j)
@@ -266,7 +282,11 @@ namespace gtsam {
     VectorValues result;
     // The result.end() hint here should result in constant-time inserts
     for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second + j2->second);
+#else
+      result.values_.insert(std::make_pair(j1->first, j1->second + j2->second));
+#endif
 
     return result;
   }
@@ -324,7 +344,11 @@ namespace gtsam {
     VectorValues result;
     // The result.end() hint here should result in constant-time inserts
     for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second - j2->second);
+#else
+      result.values_.insert(std::make_pair(j1->first, j1->second - j2->second));
+#endif
 
     return result;
   }
@@ -340,7 +364,11 @@ namespace gtsam {
   {
     VectorValues result;
     for(const VectorValues::KeyValuePair& key_v: v)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(key_v.first, a * key_v.second);
+#else
+      result.values_.insert(std::make_pair(key_v.first, a * key_v.second));
+#endif
     return result;
   }
 
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index 46da2d5f9..eed212eda 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -198,7 +198,11 @@ namespace gtsam {
      *  exist, it is inserted and an iterator pointing to the new element, along with 'true', is
      *  returned. */
     std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
-      return values_.emplace(j, value); 
+#ifdef TBB_GREATER_EQUAL_2020
+      return values_.emplace(j, value);
+#else
+      return values_.insert(std::make_pair(j, value));
+#endif
     }
 
     /** Erase the vector with the given key, or throw std::out_of_range if it does not exist */

From 6945845868bc3598ddcbb255e9e3bae2964af378 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Wed, 25 Mar 2020 20:03:03 -0400
Subject: [PATCH 03/17] add default value of GTSAM_WITH_TBB

---
 .travis.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.sh b/.travis.sh
index bc9029595..d57b784df 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -24,6 +24,7 @@ function configure()
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-ON} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \

From ea8f774f8d723f053e3c53170476673e2fbdad75 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Thu, 26 Mar 2020 13:38:17 -0400
Subject: [PATCH 04/17] make GTSAM_WITH_TBB=OFF default in ci

---
 .travis.sh  |  2 +-
 .travis.yml | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index d57b784df..78351f095 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -24,7 +24,7 @@ function configure()
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
-      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-ON} \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
diff --git a/.travis.yml b/.travis.yml
index e4e1a3440..870a4bdb9 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -44,7 +44,7 @@ jobs:
   - stage: compile
     os: osx
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: osx
@@ -55,7 +55,7 @@ jobs:
   - stage: compile
     os: osx
     compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: osx
@@ -66,7 +66,7 @@ jobs:
   - stage: compile
     os: linux
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: linux
@@ -77,7 +77,7 @@ jobs:
   - stage: compile
     os: linux
     compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -b
   - stage: compile
     os: linux
@@ -88,13 +88,13 @@ jobs:
   - stage: special
     os: linux
     compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON GTSAM_WITH_TBB=OFF
+    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
     script: bash .travis.sh -b
-# on Linux, with GTSAM_WITH_TBB not off to make sure GTSAM still compiles/tests
+# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
   - stage: special
     os: linux
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
     script: bash .travis.sh -b
 # -------- STAGE 2: TESTS -----------
 # on Mac, GCC
@@ -106,7 +106,7 @@ jobs:
   - stage: test
     os: osx
     compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -t
   - stage: test
     os: linux
@@ -116,7 +116,7 @@ jobs:
   - stage: test
     os: linux
     compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=OFF
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
     script: bash .travis.sh -t
   - stage: test
     os: linux

From 88005a99a13dff3dacb726ebb9ae36b4be63df15 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Thu, 26 Mar 2020 13:46:30 -0400
Subject: [PATCH 05/17] fix tbb CMakeLists indentation

---
 CMakeLists.txt | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56250a12c..57c9d5f2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -199,17 +199,17 @@ find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
 
 # Set up variables if we're using TBB
 if(TBB_FOUND AND GTSAM_WITH_TBB)
-	set(GTSAM_USE_TBB 1)  # This will go into config.h
-       if (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020)
-           set(TBB_GREATER_EQUAL_2020 1)
-       else()
-           set(TBB_GREATER_EQUAL_2020 0)
-       endif()
-  # all definitions and link requisites will go via imported targets:
-  # tbb & tbbmalloc
-  list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
+    set(GTSAM_USE_TBB 1)  # This will go into config.h
+    if (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020)
+        set(TBB_GREATER_EQUAL_2020 1)
+    else()
+        set(TBB_GREATER_EQUAL_2020 0)
+    endif()
+    # all definitions and link requisites will go via imported targets:
+    # tbb & tbbmalloc
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
 else()
-	set(GTSAM_USE_TBB 0)  # This will go into config.h
+    set(GTSAM_USE_TBB 0)  # This will go into config.h
 endif()
 
 ###############################################################################

From 80fc06cad7fbb31089e4e11709fd7c81bc98327b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 26 Mar 2020 16:03:51 -0400
Subject: [PATCH 06/17] function to add tbb with debug

---
 .travis.sh | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/.travis.sh b/.travis.sh
index 78351f095..9ff1f22cd 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -1,5 +1,17 @@
 #!/bin/bash
 
+# install TBB with _debug.so files
+function install_tbb()
+{
+  wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.5/tbb44_20160526oss_lin.tgz
+  if [ $(uname -s) == "Linux"]; then
+    tar -xvf tbb44_20160526oss_lin.tgz
+  elif [ $(uname -s) == "Linux" ]; then
+    tar -xvf tbb44_20160526oss_mac.tgz
+  fi
+  source tbb44_20160526oss/bin/tbbvars.sh intel64 linux auto_tbbroot
+}
+
 # common tasks before either build or test
 function configure()
 {
@@ -19,6 +31,8 @@ function configure()
     export CXX=g++-$GCC_VERSION
   fi
 
+  install_tbb
+
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   cmake $SOURCE_DIR \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \

From 026c794a9279b3b764f9101f4e410c25793c69c1 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Thu, 26 Mar 2020 16:32:05 -0400
Subject: [PATCH 07/17] use the same tbb as xenial

---
 .travis.sh | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 9ff1f22cd..5db84e1e5 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -3,13 +3,14 @@
 # install TBB with _debug.so files
 function install_tbb()
 {
-  wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.5/tbb44_20160526oss_lin.tgz
-  if [ $(uname -s) == "Linux"]; then
-    tar -xvf tbb44_20160526oss_lin.tgz
-  elif [ $(uname -s) == "Linux" ]; then
-    tar -xvf tbb44_20160526oss_mac.tgz
+  if [ $(uname -s) == "Linux" ]; then
+    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz
+    tar -xvf tbb44_20151115oss_lin.tgz
+  elif [ $(uname -s) == "Darwin" ]; then
+    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz
+    tar -xvf tbb44_20151115oss_osx.tgz
   fi
-  source tbb44_20160526oss/bin/tbbvars.sh intel64 linux auto_tbbroot
+  source tbb44_20151115oss/bin/tbbvars.sh intel64 linux auto_tbbroot
 }
 
 # common tasks before either build or test

From 4a356b9bd93ab4f7076a778b073c77b104a89c40 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 26 Mar 2020 18:00:47 -0400
Subject: [PATCH 08/17] improved install_tbb function

---
 .travis.sh | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 5db84e1e5..8fdf27bd3 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -5,12 +5,23 @@ function install_tbb()
 {
   if [ $(uname -s) == "Linux" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz
-    tar -xvf tbb44_20151115oss_lin.tgz
+    tar -xf tbb44_20151115oss_lin.tgz
   elif [ $(uname -s) == "Darwin" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz
-    tar -xvf tbb44_20151115oss_osx.tgz
+    tar -xf tbb44_20151115oss_osx.tgz
   fi
-  source tbb44_20151115oss/bin/tbbvars.sh intel64 linux auto_tbbroot
+
+  # Variables needed for setting the correct library path
+  TBB_TARGET_ARCH="intel64"
+  TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
+  library_directory="${TBB_TARGET_ARCH}/gcc4.1"
+
+  # Set library paths
+  MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH
+  MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH
+  LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH
+  LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH
+  CPATH="${TBBROOT}/include:$CPATH"; export CPATH
 }
 
 # common tasks before either build or test

From 34069a60df3cb216f74a6faabdcc2ee54e7e2d90 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 26 Mar 2020 21:00:23 -0400
Subject: [PATCH 09/17] specific paths for Mac, removed libtbb from travis
 packages list

---
 .travis.sh  | 28 ++++++++++++++++++----------
 .travis.yml |  1 -
 2 files changed, 18 insertions(+), 11 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 8fdf27bd3..1f681043a 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -6,21 +6,29 @@ function install_tbb()
   if [ $(uname -s) == "Linux" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz
     tar -xf tbb44_20151115oss_lin.tgz
+
+    TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
+
+    TBB_TARGET_ARCH="intel64"
+    library_directory="${TBB_TARGET_ARCH}/gcc4.1"
+
+    # Set library paths
+    MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH
+    MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH
+    LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH
+    LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH
+
   elif [ $(uname -s) == "Darwin" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz
     tar -xf tbb44_20151115oss_osx.tgz
+
+    TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
+
+    # Set library paths
+    LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"; export LIBRARY_PATH
+    DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"; export DYLD_LIBRARY_PATH
   fi
 
-  # Variables needed for setting the correct library path
-  TBB_TARGET_ARCH="intel64"
-  TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
-  library_directory="${TBB_TARGET_ARCH}/gcc4.1"
-
-  # Set library paths
-  MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH
-  MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH
-  LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH
-  LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH
   CPATH="${TBBROOT}/include:$CPATH"; export CPATH
 }
 
diff --git a/.travis.yml b/.travis.yml
index 870a4bdb9..2de325818 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,7 +16,6 @@ addons:
     - cmake
     - libpython-dev python-numpy
     - libboost-all-dev
-    - libtbb-dev
 
 # before_install:
 #  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update          ; fi

From 2e34a175f7aca1bd0d8a1f11e83550b80bddfe57 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 26 Mar 2020 22:05:28 -0400
Subject: [PATCH 10/17] properly export variables

---
 .travis.sh | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 1f681043a..708572ef2 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -13,10 +13,10 @@ function install_tbb()
     library_directory="${TBB_TARGET_ARCH}/gcc4.1"
 
     # Set library paths
-    MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"; export MIC_LD_LIBRARY_PATH
-    MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"; export MIC_LIBRARY_PATH
-    LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"; export LD_LIBRARY_PATH
-    LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"; export LIBRARY_PATH
+    export MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"
+    export MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"
+    export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"
+    export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"
 
   elif [ $(uname -s) == "Darwin" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz
@@ -25,8 +25,8 @@ function install_tbb()
     TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
 
     # Set library paths
-    LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"; export LIBRARY_PATH
-    DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"; export DYLD_LIBRARY_PATH
+    export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"
+    export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"
   fi
 
   CPATH="${TBBROOT}/include:$CPATH"; export CPATH

From 7248b149fd0bbc7f077dc6bd5361bb280b4af6f3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 08:39:06 -0400
Subject: [PATCH 11/17] save tbb download to /tmp

---
 .travis.sh | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 708572ef2..e08ab5a30 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -3,11 +3,11 @@
 # install TBB with _debug.so files
 function install_tbb()
 {
-  if [ $(uname -s) == "Linux" ]; then
-    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz
-    tar -xf tbb44_20151115oss_lin.tgz
+  if [ "$(uname -s)" == "Linux" ]; then
+    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz
+    tar -C /tmp -xvf /tmp/tbb442.tgz
 
-    TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
+    TBBROOT=/tmp/tbb44_20151115oss
 
     TBB_TARGET_ARCH="intel64"
     library_directory="${TBB_TARGET_ARCH}/gcc4.1"
@@ -18,18 +18,18 @@ function install_tbb()
     export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"
     export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"
 
-  elif [ $(uname -s) == "Darwin" ]; then
-    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz
-    tar -xf tbb44_20151115oss_osx.tgz
+  elif [ "$(uname -s)" == "Darwin" ]; then
+    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz
+    tar -C /tmp -xvf /tmp/tbb442.tgz
 
-    TBBROOT=$(cd tbb44_20151115oss/bin && pwd -P)/..
+    TBBROOT=/tmp/tbb44_20151115oss
 
     # Set library paths
     export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"
     export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"
   fi
 
-  CPATH="${TBBROOT}/include:$CPATH"; export CPATH
+  # CPATH="${TBBROOT}/include:$CPATH"; export CPATH
 }
 
 # common tasks before either build or test

From 5dc19e074674ab3aa7cc23656491294ead0cbef8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 09:21:51 -0400
Subject: [PATCH 12/17] install tbb before install to allow propagation of env
 variables

---
 .travis.sh  | 9 +++++----
 .travis.yml | 5 +++--
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index e08ab5a30..5f999e7a9 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -5,7 +5,7 @@ function install_tbb()
 {
   if [ "$(uname -s)" == "Linux" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz
-    tar -C /tmp -xvf /tmp/tbb442.tgz
+    tar -C /tmp -xf /tmp/tbb442.tgz
 
     TBBROOT=/tmp/tbb44_20151115oss
 
@@ -20,7 +20,7 @@ function install_tbb()
 
   elif [ "$(uname -s)" == "Darwin" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz
-    tar -C /tmp -xvf /tmp/tbb442.tgz
+    tar -C /tmp -xf /tmp/tbb442.tgz
 
     TBBROOT=/tmp/tbb44_20151115oss
 
@@ -51,8 +51,6 @@ function configure()
     export CXX=g++-$GCC_VERSION
   fi
 
-  install_tbb
-
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   cmake $SOURCE_DIR \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
@@ -111,4 +109,7 @@ case $1 in
   -t)
     test
     ;;
+  -tbb)
+    install_tbb
+    ;;
 esac
diff --git a/.travis.yml b/.travis.yml
index 2de325818..7e5b33ec4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -17,8 +17,9 @@ addons:
     - libpython-dev python-numpy
     - libboost-all-dev
 
-# before_install:
-#  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update          ; fi
+before_install:
+  - ./.travis.sh -tbb
+  # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
 
 install:
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi

From 99e1c42282d2cde3bf5e42e33f38c14171820d6a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 10:53:22 -0400
Subject: [PATCH 13/17] update travis.yml to install tbb during install phase,
 source script to add variables to current shell

---
 .travis.sh  | 8 +++-----
 .travis.yml | 4 ++--
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 5f999e7a9..2bf4f038c 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -3,12 +3,12 @@
 # install TBB with _debug.so files
 function install_tbb()
 {
+  TBBROOT=/tmp/tbb44_20151115oss
+
   if [ "$(uname -s)" == "Linux" ]; then
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz
     tar -C /tmp -xf /tmp/tbb442.tgz
 
-    TBBROOT=/tmp/tbb44_20151115oss
-
     TBB_TARGET_ARCH="intel64"
     library_directory="${TBB_TARGET_ARCH}/gcc4.1"
 
@@ -22,14 +22,12 @@ function install_tbb()
     wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz
     tar -C /tmp -xf /tmp/tbb442.tgz
 
-    TBBROOT=/tmp/tbb44_20151115oss
-
     # Set library paths
     export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"
     export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"
   fi
 
-  # CPATH="${TBBROOT}/include:$CPATH"; export CPATH
+  CPATH="${TBBROOT}/include:$CPATH"; export CPATH
 }
 
 # common tasks before either build or test
diff --git a/.travis.yml b/.travis.yml
index 7e5b33ec4..893627df3 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -17,13 +17,13 @@ addons:
     - libpython-dev python-numpy
     - libboost-all-dev
 
-before_install:
-  - ./.travis.sh -tbb
+# before_install:
   # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
 
 install:
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
+  - source .travis.sh -tbb
 
 # We first do the compile stage specified below, then the matrix expansion specified after.
 stages:

From ba5086f2717466f413796068c53fa337ecd73531 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 13:15:59 -0400
Subject: [PATCH 14/17] vastly improved install_tbb function which copies files
 correctly

---
 .travis.sh | 42 ++++++++++++++++++++++--------------------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index 2bf4f038c..10d5fd545 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -3,31 +3,33 @@
 # install TBB with _debug.so files
 function install_tbb()
 {
-  TBBROOT=/tmp/tbb44_20151115oss
+  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
+  TBB_VERSION=4.4.2
+  TBB_DIR=tbb44_20151115oss
+  TBB_SAVEPATH="/tmp/tbb.tgz"
 
-  if [ "$(uname -s)" == "Linux" ]; then
-    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_lin.tgz -O /tmp/tbb442.tgz
-    tar -C /tmp -xf /tmp/tbb442.tgz
+  if [ "$TRAVIS_OS_NAME" == "linux" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR="intel64/gcc4.4"
+    SUDO="sudo"
 
-    TBB_TARGET_ARCH="intel64"
-    library_directory="${TBB_TARGET_ARCH}/gcc4.1"
+  elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR=""
+    SUDO=""
 
-    # Set library paths
-    export MIC_LD_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LD_LIBRARY_PATH}"
-    export MIC_LIBRARY_PATH="$TBBROOT/lib/mic:${MIC_LIBRARY_PATH}"
-    export LD_LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LD_LIBRARY_PATH}"
-    export LIBRARY_PATH="$TBBROOT/lib/$library_directory:${LIBRARY_PATH}"
-
-  elif [ "$(uname -s)" == "Darwin" ]; then
-    wget https://github.com/oneapi-src/oneTBB/releases/download/4.4.2/tbb44_20151115oss_osx.tgz -O /tmp/tbb442.tgz
-    tar -C /tmp -xf /tmp/tbb442.tgz
-
-    # Set library paths
-    export LIBRARY_PATH="${TBBROOT}/lib:$LIBRARY_PATH"
-    export DYLD_LIBRARY_PATH="${TBBROOT}/lib:$DYLD_LIBRARY_PATH"
   fi
 
-  CPATH="${TBBROOT}/include:$CPATH"; export CPATH
+  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
+  tar -C /tmp -xf $TBB_SAVEPATH
+
+  TBBROOT=/tmp/$TBB_DIR
+  # Copy the needed files to the correct places.
+  # This works correctly for travis builds, instead of setting path variables.
+  # This is what Homebrew does to install TBB on Macs
+  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
+  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
+
 }
 
 # common tasks before either build or test

From 8dc7359924176c0c575d8b1f014057ce99aaac03 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 Mar 2020 23:30:50 -0400
Subject: [PATCH 15/17] set makefile to not verbose to speed up travis and
 reduce log length

---
 .travis.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.sh b/.travis.sh
index 10d5fd545..d1940db52 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -61,7 +61,7 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=ON
+      -DCMAKE_VERBOSE_MAKEFILE=OFF
 }
 
 

From d608611c871035269dcc702bd13377050c8757b9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 Mar 2020 06:56:58 -0400
Subject: [PATCH 16/17] install tbb as part of configure

---
 .travis.sh  | 5 ++---
 .travis.yml | 1 -
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index d1940db52..535a72f4b 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -46,6 +46,8 @@ function configure()
   rm -fr $BUILD_DIR || true
   mkdir $BUILD_DIR && cd $BUILD_DIR
 
+  install_tbb
+
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
     export CXX=g++-$GCC_VERSION
@@ -109,7 +111,4 @@ case $1 in
   -t)
     test
     ;;
-  -tbb)
-    install_tbb
-    ;;
 esac
diff --git a/.travis.yml b/.travis.yml
index 893627df3..c272cff07 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -23,7 +23,6 @@ addons:
 install:
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
-  - source .travis.sh -tbb
 
 # We first do the compile stage specified below, then the matrix expansion specified after.
 stages:

From 35bfc8468485796e1de882c753a8777273c3682f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 Mar 2020 10:05:38 -0400
Subject: [PATCH 17/17] make makefile verbose again

---
 .travis.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.sh b/.travis.sh
index 535a72f4b..9fc09a3f8 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -63,7 +63,7 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=OFF
+      -DCMAKE_VERBOSE_MAKEFILE=ON
 }