diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index 0855dbc21..718eee5ea 100644 --- a/.github/scripts/python.sh +++ b/.github/scripts/python.sh @@ -43,46 +43,68 @@ if [ -z ${PYTHON_VERSION+x} ]; then exit 127 fi -PYTHON="python${PYTHON_VERSION}" +export PYTHON="python${PYTHON_VERSION}" -if [[ $(uname) == "Darwin" ]]; then +function install_dependencies() +{ + if [[ $(uname) == "Darwin" ]]; then brew install wget -else + else # Install a system package required by our library sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools -fi + fi -PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin + export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin -[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb + [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb + + $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt +} + +function build() +{ + mkdir $GITHUB_WORKSPACE/build + cd $GITHUB_WORKSPACE/build + + BUILD_PYBIND="ON" + + cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_USE_QUATERNIONS=OFF \ + -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ + -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ + -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ + -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \ + -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install -BUILD_PYBIND="ON" + # Set to 2 cores so that Actions does not error out during resource provisioning. + make -j2 install -sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt + cd $GITHUB_WORKSPACE/build/python + $PYTHON -m pip install --user . +} -mkdir $GITHUB_WORKSPACE/build -cd $GITHUB_WORKSPACE/build +function test() +{ + cd $GITHUB_WORKSPACE/python/gtsam/tests + $PYTHON -m unittest discover -v +} -cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \ - -DGTSAM_BUILD_TESTS=OFF \ - -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_USE_QUATERNIONS=OFF \ - -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ - -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ - -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ - -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ - -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \ - -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install - - -# Set to 2 cores so that Actions does not error out during resource provisioning. -make -j2 install - -cd $GITHUB_WORKSPACE/build/python -$PYTHON -m pip install --user . -cd $GITHUB_WORKSPACE/python/gtsam/tests -$PYTHON -m unittest discover -v +# select between build or test +case $1 in + -d) + install_dependencies + ;; + -b) + build + ;; + -t) + test + ;; +esac diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index f80b9362c..1e1519da6 100644 --- a/.github/workflows/build-python.yml +++ b/.github/workflows/build-python.yml @@ -117,11 +117,12 @@ jobs: uses: pierotofy/set-swap-space@master with: swap-size-gb: 6 - - name: Build (Linux) - if: runner.os == 'Linux' + - name: Install Dependencies run: | - bash .github/scripts/python.sh - - name: Build (macOS) - if: runner.os == 'macOS' + bash .github/scripts/python.sh -d + - name: Build run: | - bash .github/scripts/python.sh + bash .github/scripts/python.sh -b + - name: Test + run: | + bash .github/scripts/python.sh -t diff --git a/cmake/FindBoost.cmake b/cmake/FindBoost.cmake deleted file mode 100644 index 5f7cb5ddc..000000000 --- a/cmake/FindBoost.cmake +++ /dev/null @@ -1,2347 +0,0 @@ -# Distributed under the OSI-approved BSD 3-Clause License. See accompanying -# file Copyright.txt or https://cmake.org/licensing for details. - -#[=======================================================================[.rst: -FindBoost ---------- - -Find Boost include dirs and libraries - -Use this module by invoking find_package with the form:: - - find_package(Boost - [version] [EXACT] # Minimum or EXACT version e.g. 1.67.0 - [REQUIRED] # Fail with error if Boost is not found - [COMPONENTS ...] # Boost libraries by their canonical name - # e.g. "date_time" for "libboost_date_time" - [OPTIONAL_COMPONENTS ...] - # Optional Boost libraries by their canonical name) - ) # e.g. "date_time" for "libboost_date_time" - -This module finds headers and requested component libraries OR a CMake -package configuration file provided by a "Boost CMake" build. For the -latter case skip to the "Boost CMake" section below. For the former -case results are reported in variables:: - - Boost_FOUND - True if headers and requested libraries were found - Boost_INCLUDE_DIRS - Boost include directories - Boost_LIBRARY_DIRS - Link directories for Boost libraries - Boost_LIBRARIES - Boost component libraries to be linked - Boost__FOUND - True if component was found ( is upper-case) - Boost__LIBRARY - Libraries to link for component (may include - target_link_libraries debug/optimized keywords) - Boost_VERSION_MACRO - BOOST_VERSION value from boost/version.hpp - Boost_VERSION_STRING - Boost version number in x.y.z format - Boost_VERSION - if CMP0093 NEW => same as Boost_VERSION_STRING - if CMP0093 OLD or unset => same as Boost_VERSION_MACRO - Boost_LIB_VERSION - Version string appended to library filenames - Boost_VERSION_MAJOR - Boost major version number (X in X.y.z) - alias: Boost_MAJOR_VERSION - Boost_VERSION_MINOR - Boost minor version number (Y in x.Y.z) - alias: Boost_MINOR_VERSION - Boost_VERSION_PATCH - Boost subminor version number (Z in x.y.Z) - alias: Boost_SUBMINOR_VERSION - Boost_VERSION_COUNT - Amount of version components (3) - Boost_LIB_DIAGNOSTIC_DEFINITIONS (Windows) - - Pass to add_definitions() to have diagnostic - information about Boost's automatic linking - displayed during compilation - -Note that Boost Python components require a Python version suffix -(Boost 1.67 and later), e.g. ``python36`` or ``python27`` for the -versions built against Python 3.6 and 2.7, respectively. This also -applies to additional components using Python including -``mpi_python`` and ``numpy``. Earlier Boost releases may use -distribution-specific suffixes such as ``2``, ``3`` or ``2.7``. -These may also be used as suffixes, but note that they are not -portable. - -This module reads hints about search locations from variables:: - - BOOST_ROOT - Preferred installation prefix - (or BOOSTROOT) - BOOST_INCLUDEDIR - Preferred include directory e.g. /include - BOOST_LIBRARYDIR - Preferred library directory e.g. /lib - Boost_NO_SYSTEM_PATHS - Set to ON to disable searching in locations not - specified by these hint variables. Default is OFF. - Boost_ADDITIONAL_VERSIONS - - List of Boost versions not known to this module - (Boost install locations may contain the version) - -and saves search results persistently in CMake cache entries:: - - Boost_INCLUDE_DIR - Directory containing Boost headers - Boost_LIBRARY_DIR_RELEASE - Directory containing release Boost libraries - Boost_LIBRARY_DIR_DEBUG - Directory containing debug Boost libraries - Boost__LIBRARY_DEBUG - Component library debug variant - Boost__LIBRARY_RELEASE - Component library release variant - -The following :prop_tgt:`IMPORTED` targets are also defined:: - - Boost::headers - Target for header-only dependencies - (Boost include directory) - alias: Boost::boost - Boost:: - Target for specific component dependency - (shared or static library); is lower- - case - Boost::diagnostic_definitions - interface target to enable diagnostic - information about Boost's automatic linking - during compilation (adds BOOST_LIB_DIAGNOSTIC) - Boost::disable_autolinking - interface target to disable automatic - linking with MSVC (adds BOOST_ALL_NO_LIB) - Boost::dynamic_linking - interface target to enable dynamic linking - linking with MSVC (adds BOOST_ALL_DYN_LINK) - -Implicit dependencies such as ``Boost::filesystem`` requiring -``Boost::system`` will be automatically detected and satisfied, even -if system is not specified when using :command:`find_package` and if -``Boost::system`` is not added to :command:`target_link_libraries`. If using -``Boost::thread``, then ``Threads::Threads`` will also be added automatically. - -It is important to note that the imported targets behave differently -than variables created by this module: multiple calls to -:command:`find_package(Boost)` in the same directory or sub-directories with -different options (e.g. static or shared) will not override the -values of the targets created by the first call. - -Users may set these hints or results as ``CACHE`` entries. Projects -should not read these entries directly but instead use the above -result variables. Note that some hint names start in upper-case -"BOOST". One may specify these as environment variables if they are -not specified as CMake variables or cache entries. - -This module first searches for the ``Boost`` header files using the above -hint variables (excluding ``BOOST_LIBRARYDIR``) and saves the result in -``Boost_INCLUDE_DIR``. Then it searches for requested component libraries -using the above hints (excluding ``BOOST_INCLUDEDIR`` and -``Boost_ADDITIONAL_VERSIONS``), "lib" directories near ``Boost_INCLUDE_DIR``, -and the library name configuration settings below. It saves the -library directories in ``Boost_LIBRARY_DIR_DEBUG`` and -``Boost_LIBRARY_DIR_RELEASE`` and individual library -locations in ``Boost__LIBRARY_DEBUG`` and ``Boost__LIBRARY_RELEASE``. -When one changes settings used by previous searches in the same build -tree (excluding environment variables) this module discards previous -search results affected by the changes and searches again. - -Boost libraries come in many variants encoded in their file name. -Users or projects may tell this module which variant to find by -setting variables:: - - Boost_USE_DEBUG_LIBS - Set to ON or OFF to specify whether to search - and use the debug libraries. Default is ON. - Boost_USE_RELEASE_LIBS - Set to ON or OFF to specify whether to search - and use the release libraries. Default is ON. - Boost_USE_MULTITHREADED - Set to OFF to use the non-multithreaded - libraries ('mt' tag). Default is ON. - Boost_USE_STATIC_LIBS - Set to ON to force the use of the static - libraries. Default is OFF. - Boost_USE_STATIC_RUNTIME - Set to ON or OFF to specify whether to use - libraries linked statically to the C++ runtime - ('s' tag). Default is platform dependent. - Boost_USE_DEBUG_RUNTIME - Set to ON or OFF to specify whether to use - libraries linked to the MS debug C++ runtime - ('g' tag). Default is ON. - Boost_USE_DEBUG_PYTHON - Set to ON to use libraries compiled with a - debug Python build ('y' tag). Default is OFF. - Boost_USE_STLPORT - Set to ON to use libraries compiled with - STLPort ('p' tag). Default is OFF. - Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS - - Set to ON to use libraries compiled with - STLPort deprecated "native iostreams" - ('n' tag). Default is OFF. - Boost_COMPILER - Set to the compiler-specific library suffix - (e.g. "-gcc43"). Default is auto-computed - for the C++ compiler in use. A list may be - used if multiple compatible suffixes should - be tested for, in decreasing order of - preference. - Boost_ARCHITECTURE - Set to the architecture-specific library suffix - (e.g. "-x64"). Default is auto-computed for the - C++ compiler in use. - Boost_THREADAPI - Suffix for "thread" component library name, - such as "pthread" or "win32". Names with - and without this suffix will both be tried. - Boost_NAMESPACE - Alternate namespace used to build boost with - e.g. if set to "myboost", will search for - myboost_thread instead of boost_thread. - -Other variables one may set to control this module are:: - - Boost_DEBUG - Set to ON to enable debug output from FindBoost. - Please enable this before filing any bug report. - Boost_REALPATH - Set to ON to resolve symlinks for discovered - libraries to assist with packaging. For example, - the "system" component library may be resolved to - "/usr/lib/libboost_system.so.1.67.0" instead of - "/usr/lib/libboost_system.so". This does not - affect linking and should not be enabled unless - the user needs this information. - Boost_LIBRARY_DIR - Default value for Boost_LIBRARY_DIR_RELEASE and - Boost_LIBRARY_DIR_DEBUG. - -On Visual Studio and Borland compilers Boost headers request automatic -linking to corresponding libraries. This requires matching libraries -to be linked explicitly or available in the link library search path. -In this case setting ``Boost_USE_STATIC_LIBS`` to ``OFF`` may not achieve -dynamic linking. Boost automatic linking typically requests static -libraries with a few exceptions (such as ``Boost.Python``). Use:: - - add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) - -to ask Boost to report information about automatic linking requests. - -Example to find Boost headers only:: - - find_package(Boost 1.36.0) - if(Boost_FOUND) - include_directories(${Boost_INCLUDE_DIRS}) - add_executable(foo foo.cc) - endif() - -Example to find Boost libraries and use imported targets:: - - find_package(Boost 1.56 REQUIRED COMPONENTS - date_time filesystem iostreams) - add_executable(foo foo.cc) - target_link_libraries(foo Boost::date_time Boost::filesystem - Boost::iostreams) - -Example to find Boost Python 3.6 libraries and use imported targets:: - - find_package(Boost 1.67 REQUIRED COMPONENTS - python36 numpy36) - add_executable(foo foo.cc) - target_link_libraries(foo Boost::python36 Boost::numpy36) - -Example to find Boost headers and some *static* (release only) libraries:: - - set(Boost_USE_STATIC_LIBS ON) # only find static libs - set(Boost_USE_DEBUG_LIBS OFF) # ignore debug libs and - set(Boost_USE_RELEASE_LIBS ON) # only find release libs - set(Boost_USE_MULTITHREADED ON) - set(Boost_USE_STATIC_RUNTIME OFF) - find_package(Boost 1.66.0 COMPONENTS date_time filesystem system ...) - if(Boost_FOUND) - include_directories(${Boost_INCLUDE_DIRS}) - add_executable(foo foo.cc) - target_link_libraries(foo ${Boost_LIBRARIES}) - endif() - -Boost CMake -^^^^^^^^^^^ - -If Boost was built using the boost-cmake project or from Boost 1.70.0 on -it provides a package configuration file for use with find_package's config mode. -This module looks for the package configuration file called -``BoostConfig.cmake`` or ``boost-config.cmake`` and stores the result in -``CACHE`` entry "Boost_DIR". If found, the package configuration file is loaded -and this module returns with no further action. See documentation of -the Boost CMake package configuration for details on what it provides. - -Set ``Boost_NO_BOOST_CMAKE`` to ``ON``, to disable the search for boost-cmake. -#]=======================================================================] - -# The FPHSA helper provides standard way of reporting final search results to -# the user including the version and component checks. - -# Patch for GTSAM: -#include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake) -include(FindPackageHandleStandardArgs) - -# Save project's policies -cmake_policy(PUSH) -cmake_policy(SET CMP0057 NEW) # if IN_LIST - -function(_boost_get_existing_target component target_var) - set(names "${component}") - if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$") - # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc. - list(APPEND names - "${CMAKE_MATCH_1}${CMAKE_MATCH_2}" # python - "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}" # pythonX - "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}${CMAKE_MATCH_4}" #pythonXY - ) - endif() - # https://github.com/boost-cmake/boost-cmake uses boost::file_system etc. - # So handle similar constructions of target names - string(TOLOWER "${component}" lower_component) - list(APPEND names "${lower_component}") - foreach(prefix Boost boost) - foreach(name IN LISTS names) - if(TARGET "${prefix}::${name}") - # The target may be an INTERFACE library that wraps around a single other - # target for compatibility. Unwrap this layer so we can extract real info. - if("${name}" MATCHES "^(python|numpy|mpi_python)([1-9])([0-9])$") - set(name_nv "${CMAKE_MATCH_1}") - if(TARGET "${prefix}::${name_nv}") - get_property(type TARGET "${prefix}::${name}" PROPERTY TYPE) - if(type STREQUAL "INTERFACE_LIBRARY") - get_property(lib TARGET "${prefix}::${name}" PROPERTY INTERFACE_LINK_LIBRARIES) - if("${lib}" STREQUAL "${prefix}::${name_nv}") - set(${target_var} "${prefix}::${name_nv}" PARENT_SCOPE) - return() - endif() - endif() - endif() - endif() - set(${target_var} "${prefix}::${name}" PARENT_SCOPE) - return() - endif() - endforeach() - endforeach() - set(${target_var} "" PARENT_SCOPE) -endfunction() - -function(_boost_get_canonical_target_name component target_var) - string(TOLOWER "${component}" component) - if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$") - # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc. - set(${target_var} "Boost::${CMAKE_MATCH_1}${CMAKE_MATCH_2}" PARENT_SCOPE) - else() - set(${target_var} "Boost::${component}" PARENT_SCOPE) - endif() -endfunction() - -macro(_boost_set_in_parent_scope name value) - # Set a variable in parent scope and make it visibile in current scope - set(${name} "${value}" PARENT_SCOPE) - set(${name} "${value}") -endmacro() - -macro(_boost_set_if_unset name value) - if(NOT ${name}) - _boost_set_in_parent_scope(${name} "${value}") - endif() -endmacro() - -macro(_boost_set_cache_if_unset name value) - if(NOT ${name}) - set(${name} "${value}" CACHE STRING "" FORCE) - endif() -endmacro() - -macro(_boost_append_include_dir target) - get_target_property(inc "${target}" INTERFACE_INCLUDE_DIRECTORIES) - if(inc) - list(APPEND include_dirs "${inc}") - endif() -endmacro() - -function(_boost_set_legacy_variables_from_config) - # Set legacy variables for compatibility if not set - set(include_dirs "") - set(library_dirs "") - set(libraries "") - # Header targets Boost::headers or Boost::boost - foreach(comp headers boost) - _boost_get_existing_target(${comp} target) - if(target) - _boost_append_include_dir("${target}") - endif() - endforeach() - # Library targets - foreach(comp IN LISTS Boost_FIND_COMPONENTS) - string(TOUPPER ${comp} uppercomp) - # Overwrite if set - _boost_set_in_parent_scope(Boost_${uppercomp}_FOUND "${Boost_${comp}_FOUND}") - if(Boost_${comp}_FOUND) - _boost_get_existing_target(${comp} target) - if(NOT target) - if(Boost_DEBUG OR Boost_VERBOSE) - message(WARNING "Could not find imported target for required component '${comp}'. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.") - endif() - continue() - endif() - _boost_append_include_dir("${target}") - _boost_set_if_unset(Boost_${uppercomp}_LIBRARY "${target}") - _boost_set_if_unset(Boost_${uppercomp}_LIBRARIES "${target}") # Very old legacy variable - list(APPEND libraries "${target}") - get_property(type TARGET "${target}" PROPERTY TYPE) - if(NOT type STREQUAL "INTERFACE_LIBRARY") - foreach(cfg RELEASE DEBUG) - get_target_property(lib ${target} IMPORTED_LOCATION_${cfg}) - if(lib) - get_filename_component(lib_dir "${lib}" DIRECTORY) - list(APPEND library_dirs ${lib_dir}) - _boost_set_cache_if_unset(Boost_${uppercomp}_LIBRARY_${cfg} "${lib}") - endif() - endforeach() - elseif(Boost_DEBUG OR Boost_VERBOSE) - # For projects using only the Boost::* targets this warning can be safely ignored. - message(WARNING "Imported target '${target}' for required component '${comp}' has no artifact. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.") - endif() - _boost_get_canonical_target_name("${comp}" canonical_target) - if(NOT TARGET "${canonical_target}") - add_library("${canonical_target}" INTERFACE IMPORTED) - target_link_libraries("${canonical_target}" INTERFACE "${target}") - endif() - endif() - endforeach() - list(REMOVE_DUPLICATES include_dirs) - list(REMOVE_DUPLICATES library_dirs) - _boost_set_if_unset(Boost_INCLUDE_DIRS "${include_dirs}") - _boost_set_if_unset(Boost_LIBRARY_DIRS "${library_dirs}") - _boost_set_if_unset(Boost_LIBRARIES "${libraries}") - _boost_set_if_unset(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}") - find_path(Boost_INCLUDE_DIR - NAMES boost/version.hpp boost/config.hpp - HINTS ${Boost_INCLUDE_DIRS} - NO_DEFAULT_PATH - ) - if(NOT Boost_VERSION_MACRO OR NOT Boost_LIB_VERSION) - set(version_file ${Boost_INCLUDE_DIR}/boost/version.hpp) - if(EXISTS "${version_file}") - file(STRINGS "${version_file}" contents REGEX "#define BOOST_(LIB_)?VERSION ") - if(contents MATCHES "#define BOOST_VERSION ([0-9]+)") - _boost_set_if_unset(Boost_VERSION_MACRO "${CMAKE_MATCH_1}") - endif() - if(contents MATCHES "#define BOOST_LIB_VERSION \"([0-9_]+)\"") - _boost_set_if_unset(Boost_LIB_VERSION "${CMAKE_MATCH_1}") - endif() - endif() - endif() - _boost_set_if_unset(Boost_MAJOR_VERSION ${Boost_VERSION_MAJOR}) - _boost_set_if_unset(Boost_MINOR_VERSION ${Boost_VERSION_MINOR}) - _boost_set_if_unset(Boost_SUBMINOR_VERSION ${Boost_VERSION_PATCH}) - if(WIN32) - _boost_set_if_unset(Boost_LIB_DIAGNOSTIC_DEFINITIONS "-DBOOST_LIB_DIAGNOSTIC") - endif() - if(NOT TARGET Boost::headers) - add_library(Boost::headers INTERFACE IMPORTED) - target_include_directories(Boost::headers INTERFACE ${Boost_INCLUDE_DIRS}) - endif() - # Legacy targets w/o functionality as all handled by defined targets - foreach(lib diagnostic_definitions disable_autolinking dynamic_linking) - if(NOT TARGET Boost::${lib}) - add_library(Boost::${lib} INTERFACE IMPORTED) - endif() - endforeach() - if(NOT TARGET Boost::boost) - add_library(Boost::boost INTERFACE IMPORTED) - target_link_libraries(Boost::boost INTERFACE Boost::headers) - endif() -endfunction() - -#------------------------------------------------------------------------------- -# Before we go searching, check whether a boost cmake package is available, unless -# the user specifically asked NOT to search for one. -# -# If Boost_DIR is set, this behaves as any find_package call would. If not, -# it looks at BOOST_ROOT and BOOSTROOT to find Boost. -# -if (NOT Boost_NO_BOOST_CMAKE) - # If Boost_DIR is not set, look for BOOSTROOT and BOOST_ROOT as alternatives, - # since these are more conventional for Boost. - if ("$ENV{Boost_DIR}" STREQUAL "") - if (NOT "$ENV{BOOST_ROOT}" STREQUAL "") - set(ENV{Boost_DIR} $ENV{BOOST_ROOT}) - elseif (NOT "$ENV{BOOSTROOT}" STREQUAL "") - set(ENV{Boost_DIR} $ENV{BOOSTROOT}) - endif() - endif() - - # Do the same find_package call but look specifically for the CMake version. - # Note that args are passed in the Boost_FIND_xxxxx variables, so there is no - # need to delegate them to this find_package call. - find_package(Boost QUIET NO_MODULE) - mark_as_advanced(Boost_DIR) - - # If we found a boost cmake package, then we're done. Print out what we found. - # Otherwise let the rest of the module try to find it. - if(Boost_FOUND) - # Convert component found variables to standard variables if required - # Necessary for legacy boost-cmake and 1.70 builtin BoostConfig - if(Boost_FIND_COMPONENTS) - foreach(_comp IN LISTS Boost_FIND_COMPONENTS) - if(DEFINED Boost_${_comp}_FOUND) - continue() - endif() - string(TOUPPER ${_comp} _uppercomp) - if(DEFINED Boost${_comp}_FOUND) # legacy boost-cmake project - set(Boost_${_comp}_FOUND ${Boost${_comp}_FOUND}) - elseif(DEFINED Boost_${_uppercomp}_FOUND) # Boost 1.70 - set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND}) - endif() - endforeach() - endif() - - find_package_handle_standard_args(Boost HANDLE_COMPONENTS CONFIG_MODE) - _boost_set_legacy_variables_from_config() - - # Restore project's policies - cmake_policy(POP) - return() - endif() -endif() - - -#------------------------------------------------------------------------------- -# FindBoost functions & macros -# - -# -# Print debug text if Boost_DEBUG is set. -# Call example: -# _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "debug message") -# -function(_Boost_DEBUG_PRINT file line text) - if(Boost_DEBUG) - message(STATUS "[ ${file}:${line} ] ${text}") - endif() -endfunction() - -# -# _Boost_DEBUG_PRINT_VAR(file line variable_name [ENVIRONMENT] -# [SOURCE "short explanation of origin of var value"]) -# -# ENVIRONMENT - look up environment variable instead of CMake variable -# -# Print variable name and its value if Boost_DEBUG is set. -# Call example: -# _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" BOOST_ROOT) -# -function(_Boost_DEBUG_PRINT_VAR file line name) - if(Boost_DEBUG) - cmake_parse_arguments(_args "ENVIRONMENT" "SOURCE" "" ${ARGN}) - - unset(source) - if(_args_SOURCE) - set(source " (${_args_SOURCE})") - endif() - - if(_args_ENVIRONMENT) - if(DEFINED ENV{${name}}) - set(value "\"$ENV{${name}}\"") - else() - set(value "") - endif() - set(_name "ENV{${name}}") - else() - if(DEFINED "${name}") - set(value "\"${${name}}\"") - else() - set(value "") - endif() - set(_name "${name}") - endif() - - _Boost_DEBUG_PRINT("${file}" "${line}" "${_name} = ${value}${source}") - endif() -endfunction() - -############################################ -# -# Check the existence of the libraries. -# -############################################ -# This macro was taken directly from the FindQt4.cmake file that is included -# with the CMake distribution. This is NOT my work. All work was done by the -# original authors of the FindQt4.cmake file. Only minor modifications were -# made to remove references to Qt and make this file more generally applicable -# And ELSE/ENDIF pairs were removed for readability. -######################################################################### - -macro(_Boost_ADJUST_LIB_VARS basename) - if(Boost_INCLUDE_DIR ) - if(Boost_${basename}_LIBRARY_DEBUG AND Boost_${basename}_LIBRARY_RELEASE) - # if the generator is multi-config or if CMAKE_BUILD_TYPE is set for - # single-config generators, set optimized and debug libraries - get_property(_isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG) - if(_isMultiConfig OR CMAKE_BUILD_TYPE) - set(Boost_${basename}_LIBRARY optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG}) - else() - # For single-config generators where CMAKE_BUILD_TYPE has no value, - # just use the release libraries - set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE} ) - endif() - # FIXME: This probably should be set for both cases - set(Boost_${basename}_LIBRARIES optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG}) - endif() - - # if only the release version was found, set the debug variable also to the release version - if(Boost_${basename}_LIBRARY_RELEASE AND NOT Boost_${basename}_LIBRARY_DEBUG) - set(Boost_${basename}_LIBRARY_DEBUG ${Boost_${basename}_LIBRARY_RELEASE}) - set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE}) - set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_RELEASE}) - endif() - - # if only the debug version was found, set the release variable also to the debug version - if(Boost_${basename}_LIBRARY_DEBUG AND NOT Boost_${basename}_LIBRARY_RELEASE) - set(Boost_${basename}_LIBRARY_RELEASE ${Boost_${basename}_LIBRARY_DEBUG}) - set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_DEBUG}) - set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_DEBUG}) - endif() - - # If the debug & release library ends up being the same, omit the keywords - if("${Boost_${basename}_LIBRARY_RELEASE}" STREQUAL "${Boost_${basename}_LIBRARY_DEBUG}") - set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE} ) - set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_RELEASE} ) - endif() - - if(Boost_${basename}_LIBRARY AND Boost_${basename}_HEADER) - set(Boost_${basename}_FOUND ON) - if("x${basename}" STREQUAL "xTHREAD" AND NOT TARGET Threads::Threads) - string(APPEND Boost_ERROR_REASON_THREAD " (missing dependency: Threads)") - set(Boost_THREAD_FOUND OFF) - endif() - endif() - - endif() - # Make variables changeable to the advanced user - mark_as_advanced( - Boost_${basename}_LIBRARY_RELEASE - Boost_${basename}_LIBRARY_DEBUG - ) -endmacro() - -# Detect changes in used variables. -# Compares the current variable value with the last one. -# In short form: -# v != v_LAST -> CHANGED = 1 -# v is defined, v_LAST not -> CHANGED = 1 -# v is not defined, but v_LAST is -> CHANGED = 1 -# otherwise -> CHANGED = 0 -# CHANGED is returned in variable named ${changed_var} -macro(_Boost_CHANGE_DETECT changed_var) - set(${changed_var} 0) - foreach(v ${ARGN}) - if(DEFINED _Boost_COMPONENTS_SEARCHED) - if(${v}) - if(_${v}_LAST) - string(COMPARE NOTEQUAL "${${v}}" "${_${v}_LAST}" _${v}_CHANGED) - else() - set(_${v}_CHANGED 1) - endif() - elseif(_${v}_LAST) - set(_${v}_CHANGED 1) - endif() - if(_${v}_CHANGED) - set(${changed_var} 1) - endif() - else() - set(_${v}_CHANGED 0) - endif() - endforeach() -endmacro() - -# -# Find the given library (var). -# Use 'build_type' to support different lib paths for RELEASE or DEBUG builds -# -macro(_Boost_FIND_LIBRARY var build_type) - - find_library(${var} ${ARGN}) - - if(${var}) - # If this is the first library found then save Boost_LIBRARY_DIR_[RELEASE,DEBUG]. - if(NOT Boost_LIBRARY_DIR_${build_type}) - get_filename_component(_dir "${${var}}" PATH) - set(Boost_LIBRARY_DIR_${build_type} "${_dir}" CACHE PATH "Boost library directory ${build_type}" FORCE) - endif() - elseif(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) - # Try component-specific hints but do not save Boost_LIBRARY_DIR_[RELEASE,DEBUG]. - find_library(${var} HINTS ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT} ${ARGN}) - endif() - - # If Boost_LIBRARY_DIR_[RELEASE,DEBUG] is known then search only there. - if(Boost_LIBRARY_DIR_${build_type}) - set(_boost_LIBRARY_SEARCH_DIRS_${build_type} ${Boost_LIBRARY_DIR_${build_type}} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "Boost_LIBRARY_DIR_${build_type}") - _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "_boost_LIBRARY_SEARCH_DIRS_${build_type}") - endif() -endmacro() - -#------------------------------------------------------------------------------- - -# Convert CMAKE_CXX_COMPILER_VERSION to boost compiler suffix version. -function(_Boost_COMPILER_DUMPVERSION _OUTPUT_VERSION _OUTPUT_VERSION_MAJOR _OUTPUT_VERSION_MINOR) - string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\1" - _boost_COMPILER_VERSION_MAJOR "${CMAKE_CXX_COMPILER_VERSION}") - string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\2" - _boost_COMPILER_VERSION_MINOR "${CMAKE_CXX_COMPILER_VERSION}") - - set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}${_boost_COMPILER_VERSION_MINOR}") - - set(${_OUTPUT_VERSION} ${_boost_COMPILER_VERSION} PARENT_SCOPE) - set(${_OUTPUT_VERSION_MAJOR} ${_boost_COMPILER_VERSION_MAJOR} PARENT_SCOPE) - set(${_OUTPUT_VERSION_MINOR} ${_boost_COMPILER_VERSION_MINOR} PARENT_SCOPE) -endfunction() - -# -# Take a list of libraries with "thread" in it -# and prepend duplicates with "thread_${Boost_THREADAPI}" -# at the front of the list -# -function(_Boost_PREPEND_LIST_WITH_THREADAPI _output) - set(_orig_libnames ${ARGN}) - string(REPLACE "thread" "thread_${Boost_THREADAPI}" _threadapi_libnames "${_orig_libnames}") - set(${_output} ${_threadapi_libnames} ${_orig_libnames} PARENT_SCOPE) -endfunction() - -# -# If a library is found, replace its cache entry with its REALPATH -# -function(_Boost_SWAP_WITH_REALPATH _library _docstring) - if(${_library}) - get_filename_component(_boost_filepathreal ${${_library}} REALPATH) - unset(${_library} CACHE) - set(${_library} ${_boost_filepathreal} CACHE FILEPATH "${_docstring}") - endif() -endfunction() - -function(_Boost_CHECK_SPELLING _var) - if(${_var}) - string(TOUPPER ${_var} _var_UC) - message(FATAL_ERROR "ERROR: ${_var} is not the correct spelling. The proper spelling is ${_var_UC}.") - endif() -endfunction() - -# Guesses Boost's compiler prefix used in built library names -# Returns the guess by setting the variable pointed to by _ret -function(_Boost_GUESS_COMPILER_PREFIX _ret) - if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xIntel") - if(WIN32) - set (_boost_COMPILER "-iw") - else() - set (_boost_COMPILER "-il") - endif() - elseif (GHSMULTI) - set(_boost_COMPILER "-ghs") - elseif("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC" OR "x${CMAKE_CXX_SIMULATE_ID}" STREQUAL "xMSVC") - if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150) - # Not yet known. - set(_boost_COMPILER "") - elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140) - # MSVC toolset 14.x versions are forward compatible. - set(_boost_COMPILER "") - foreach(v 9 8 7 6 5 4 3 2 1 0) - if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v}) - list(APPEND _boost_COMPILER "-vc14${v}") - endif() - endforeach() - elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80) - set(_boost_COMPILER "-vc${MSVC_TOOLSET_VERSION}") - elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13.10) - set(_boost_COMPILER "-vc71") - elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13) # Good luck! - set(_boost_COMPILER "-vc7") # yes, this is correct - else() # VS 6.0 Good luck! - set(_boost_COMPILER "-vc6") # yes, this is correct - endif() - - if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xClang") - string(REPLACE "." 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Also check if any new components have - # been added, and add any new components to - # _Boost_COMPONENT_HEADERS. - # - # This information was originally generated by running - # BoostScanDeps.cmake against every boost release to date supported - # by FindBoost: - # - # % for version in /path/to/boost/sources/* - # do - # cmake -DBOOST_DIR=$version -P Utilities/Scripts/BoostScanDeps.cmake - # done - # - # The output was then updated by search and replace with these regexes: - # - # - Strip message(STATUS) prefix dashes - # s;^-- ;; - # - Indent - # s;^set(; set(;; - # - Add conditionals - # s;Scanning /path/to/boost/sources/boost_\(.*\)_\(.*\)_\(.*); elseif(NOT Boost_VERSION_STRING VERSION_LESS \1\.\2\.\3 AND Boost_VERSION_STRING VERSION_LESS xxxx); - # - # This results in the logic seen below, but will require the xxxx - # replacing with the following Boost release version (or the next - # minor version to be released, e.g. 1.59 was the latest at the time - # of writing, making 1.60 the next. Identical consecutive releases - # were then merged together by updating the end range of the first - # block and removing the following redundant blocks. - # - # Running the script against all historical releases should be - # required only if the BoostScanDeps.cmake script logic is changed. - # The addition of a new release should only require it to be run - # against the new release. - - # Handle Python version suffixes - if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$") - set(component "${CMAKE_MATCH_1}") - set(component_python_version "${CMAKE_MATCH_2}") - endif() - - set(_Boost_IMPORTED_TARGETS TRUE) - if(Boost_VERSION_STRING AND Boost_VERSION_STRING VERSION_LESS 1.33.0) - message(WARNING "Imported targets and dependency information not available for Boost version ${Boost_VERSION_STRING} (all versions older than 1.33)") - set(_Boost_IMPORTED_TARGETS FALSE) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.33.0 AND Boost_VERSION_STRING VERSION_LESS 1.35.0) - set(_Boost_IOSTREAMS_DEPENDENCIES regex thread) - set(_Boost_REGEX_DEPENDENCIES thread) - set(_Boost_WAVE_DEPENDENCIES filesystem thread) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.35.0 AND Boost_VERSION_STRING VERSION_LESS 1.36.0) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_WAVE_DEPENDENCIES filesystem system thread) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.36.0 AND Boost_VERSION_STRING VERSION_LESS 1.38.0) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_WAVE_DEPENDENCIES filesystem system thread) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.38.0 AND Boost_VERSION_STRING VERSION_LESS 1.43.0) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_THREAD_DEPENDENCIES date_time) - set(_Boost_WAVE_DEPENDENCIES filesystem system thread date_time) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.43.0 AND Boost_VERSION_STRING VERSION_LESS 1.44.0) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random) - set(_Boost_MPI_DEPENDENCIES serialization) - 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set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.53.0 AND Boost_VERSION_STRING VERSION_LESS 1.54.0) - set(_Boost_ATOMIC_DEPENDENCIES thread chrono system date_time) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - 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elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.55.0 AND Boost_VERSION_STRING VERSION_LESS 1.56.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.56.0 AND Boost_VERSION_STRING VERSION_LESS 1.59.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.59.0 AND Boost_VERSION_STRING VERSION_LESS 1.60.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.60.0 AND Boost_VERSION_STRING VERSION_LESS 1.61.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.61.0 AND Boost_VERSION_STRING VERSION_LESS 1.62.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0 AND Boost_VERSION_STRING VERSION_LESS 1.63.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.63.0 AND Boost_VERSION_STRING VERSION_LESS 1.65.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_COROUTINE2_DEPENDENCIES context fiber thread chrono system date_time) - set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.65.0 AND Boost_VERSION_STRING VERSION_LESS 1.67.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0 AND Boost_VERSION_STRING VERSION_LESS 1.68.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.68.0 AND Boost_VERSION_STRING VERSION_LESS 1.69.0) - set(_Boost_CHRONO_DEPENDENCIES system) - set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time) - set(_Boost_CONTRACT_DEPENDENCIES thread chrono system date_time) - set(_Boost_COROUTINE_DEPENDENCIES context system) - set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time) - set(_Boost_FILESYSTEM_DEPENDENCIES system) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) - set(_Boost_RANDOM_DEPENDENCIES system) - set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.69.0 AND Boost_VERSION_STRING VERSION_LESS 1.70.0) - set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time) - set(_Boost_COROUTINE_DEPENDENCIES context) - set(_Boost_FIBER_DEPENDENCIES context) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) - set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono system) - set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.70.0) - set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time) - set(_Boost_COROUTINE_DEPENDENCIES context) - set(_Boost_FIBER_DEPENDENCIES context) - set(_Boost_IOSTREAMS_DEPENDENCIES regex) - set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic) - set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic) - set(_Boost_MPI_DEPENDENCIES serialization) - set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization) - set(_Boost_NUMPY_DEPENDENCIES python${component_python_version}) - set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic) - set(_Boost_TIMER_DEPENDENCIES chrono) - set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic) - set(_Boost_WSERIALIZATION_DEPENDENCIES serialization) - if(NOT Boost_VERSION_STRING VERSION_LESS 1.72.0) - message(WARNING "New Boost version may have incorrect or missing dependencies and imported targets") - endif() - endif() - - string(TOUPPER ${component} uppercomponent) - set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) - set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE) - - string(REGEX REPLACE ";" " " _boost_DEPS_STRING "${_Boost_${uppercomponent}_DEPENDENCIES}") - if (NOT _boost_DEPS_STRING) - set(_boost_DEPS_STRING "(none)") - endif() - # message(STATUS "Dependencies for Boost::${component}: ${_boost_DEPS_STRING}") -endfunction() - -# -# Get component headers. This is the primary header (or headers) for -# a given component, and is used to check that the headers are present -# as well as the library itself as an extra sanity check of the build -# environment. -# -# component - the component to check -# _hdrs -# -function(_Boost_COMPONENT_HEADERS component _hdrs) - # Handle Python version suffixes - if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$") - set(component "${CMAKE_MATCH_1}") - set(component_python_version "${CMAKE_MATCH_2}") - endif() - - # Note: new boost components will require adding here. The header - # must be present in all versions of Boost providing a library. - set(_Boost_ATOMIC_HEADERS "boost/atomic.hpp") - set(_Boost_CHRONO_HEADERS "boost/chrono.hpp") - set(_Boost_CONTAINER_HEADERS "boost/container/container_fwd.hpp") - set(_Boost_CONTRACT_HEADERS "boost/contract.hpp") - if(Boost_VERSION_STRING VERSION_LESS 1.61.0) - set(_Boost_CONTEXT_HEADERS "boost/context/all.hpp") - else() - set(_Boost_CONTEXT_HEADERS "boost/context/detail/fcontext.hpp") - endif() - set(_Boost_COROUTINE_HEADERS "boost/coroutine/all.hpp") - set(_Boost_DATE_TIME_HEADERS "boost/date_time/date.hpp") - set(_Boost_EXCEPTION_HEADERS "boost/exception/exception.hpp") - set(_Boost_FIBER_HEADERS "boost/fiber/all.hpp") - set(_Boost_FILESYSTEM_HEADERS "boost/filesystem/path.hpp") - set(_Boost_GRAPH_HEADERS "boost/graph/adjacency_list.hpp") - set(_Boost_GRAPH_PARALLEL_HEADERS "boost/graph/adjacency_list.hpp") - set(_Boost_IOSTREAMS_HEADERS "boost/iostreams/stream.hpp") - set(_Boost_LOCALE_HEADERS "boost/locale.hpp") - set(_Boost_LOG_HEADERS "boost/log/core.hpp") - set(_Boost_LOG_SETUP_HEADERS "boost/log/detail/setup_config.hpp") - set(_Boost_MATH_HEADERS "boost/math_fwd.hpp") - set(_Boost_MATH_C99_HEADERS "boost/math/tr1.hpp") - set(_Boost_MATH_C99F_HEADERS "boost/math/tr1.hpp") - set(_Boost_MATH_C99L_HEADERS "boost/math/tr1.hpp") - set(_Boost_MATH_TR1_HEADERS "boost/math/tr1.hpp") - set(_Boost_MATH_TR1F_HEADERS "boost/math/tr1.hpp") - set(_Boost_MATH_TR1L_HEADERS "boost/math/tr1.hpp") - set(_Boost_MPI_HEADERS "boost/mpi.hpp") - set(_Boost_MPI_PYTHON_HEADERS "boost/mpi/python/config.hpp") - set(_Boost_NUMPY_HEADERS "boost/python/numpy.hpp") - set(_Boost_PRG_EXEC_MONITOR_HEADERS "boost/test/prg_exec_monitor.hpp") - set(_Boost_PROGRAM_OPTIONS_HEADERS "boost/program_options.hpp") - set(_Boost_PYTHON_HEADERS "boost/python.hpp") - set(_Boost_RANDOM_HEADERS "boost/random.hpp") - set(_Boost_REGEX_HEADERS "boost/regex.hpp") - set(_Boost_SERIALIZATION_HEADERS "boost/serialization/serialization.hpp") - set(_Boost_SIGNALS_HEADERS "boost/signals.hpp") - set(_Boost_STACKTRACE_ADDR2LINE_HEADERS "boost/stacktrace.hpp") - set(_Boost_STACKTRACE_BACKTRACE_HEADERS "boost/stacktrace.hpp") - set(_Boost_STACKTRACE_BASIC_HEADERS "boost/stacktrace.hpp") - set(_Boost_STACKTRACE_NOOP_HEADERS "boost/stacktrace.hpp") - set(_Boost_STACKTRACE_WINDBG_CACHED_HEADERS "boost/stacktrace.hpp") - set(_Boost_STACKTRACE_WINDBG_HEADERS "boost/stacktrace.hpp") - set(_Boost_SYSTEM_HEADERS "boost/system/config.hpp") - set(_Boost_TEST_EXEC_MONITOR_HEADERS "boost/test/test_exec_monitor.hpp") - set(_Boost_THREAD_HEADERS "boost/thread.hpp") - set(_Boost_TIMER_HEADERS "boost/timer.hpp") - set(_Boost_TYPE_ERASURE_HEADERS "boost/type_erasure/config.hpp") - set(_Boost_UNIT_TEST_FRAMEWORK_HEADERS "boost/test/framework.hpp") - set(_Boost_WAVE_HEADERS "boost/wave.hpp") - set(_Boost_WSERIALIZATION_HEADERS "boost/archive/text_wiarchive.hpp") - if(WIN32) - set(_Boost_BZIP2_HEADERS "boost/iostreams/filter/bzip2.hpp") - set(_Boost_ZLIB_HEADERS "boost/iostreams/filter/zlib.hpp") - endif() - - string(TOUPPER ${component} uppercomponent) - set(${_hdrs} ${_Boost_${uppercomponent}_HEADERS} PARENT_SCOPE) - - string(REGEX REPLACE ";" " " _boost_HDRS_STRING "${_Boost_${uppercomponent}_HEADERS}") - if (NOT _boost_HDRS_STRING) - set(_boost_HDRS_STRING "(none)") - endif() - # message(STATUS "Headers for Boost::${component}: ${_boost_HDRS_STRING}") -endfunction() - -# -# Determine if any missing dependencies require adding to the component list. -# -# Sets _Boost_${COMPONENT}_DEPENDENCIES for each required component, -# plus _Boost_IMPORTED_TARGETS (TRUE if imported targets should be -# defined; FALSE if dependency information is unavailable). -# -# componentvar - the component list variable name -# extravar - the indirect dependency list variable name -# -# -function(_Boost_MISSING_DEPENDENCIES componentvar extravar) - # _boost_unprocessed_components - list of components requiring processing - # _boost_processed_components - components already processed (or currently being processed) - # _boost_new_components - new components discovered for future processing - # - list(APPEND _boost_unprocessed_components ${${componentvar}}) - - while(_boost_unprocessed_components) - list(APPEND _boost_processed_components ${_boost_unprocessed_components}) - foreach(component ${_boost_unprocessed_components}) - string(TOUPPER ${component} uppercomponent) - set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) - _Boost_COMPONENT_DEPENDENCIES("${component}" _Boost_${uppercomponent}_DEPENDENCIES) - set(_Boost_${uppercomponent}_DEPENDENCIES ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE) - set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE) - foreach(componentdep ${_Boost_${uppercomponent}_DEPENDENCIES}) - if (NOT ("${componentdep}" IN_LIST _boost_processed_components OR "${componentdep}" IN_LIST _boost_new_components)) - list(APPEND _boost_new_components ${componentdep}) - endif() - endforeach() - endforeach() - set(_boost_unprocessed_components ${_boost_new_components}) - unset(_boost_new_components) - endwhile() - set(_boost_extra_components ${_boost_processed_components}) - if(_boost_extra_components AND ${componentvar}) - list(REMOVE_ITEM _boost_extra_components ${${componentvar}}) - endif() - set(${componentvar} ${_boost_processed_components} PARENT_SCOPE) - set(${extravar} ${_boost_extra_components} PARENT_SCOPE) -endfunction() - -# -# Some boost libraries may require particular set of compler features. -# The very first one was `boost::fiber` introduced in Boost 1.62. -# One can check required compiler features of it in -# - `${Boost_ROOT}/libs/fiber/build/Jamfile.v2`; -# - `${Boost_ROOT}/libs/context/build/Jamfile.v2`. -# -# TODO (Re)Check compiler features on (every?) release ??? -# One may use the following command to get the files to check: -# -# $ find . -name Jamfile.v2 | grep build | xargs grep -l cxx1 -# -function(_Boost_COMPILER_FEATURES component _ret) - # Boost >= 1.62 - if(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0) - set(_Boost_FIBER_COMPILER_FEATURES - cxx_alias_templates - cxx_auto_type - cxx_constexpr - cxx_defaulted_functions - cxx_final - cxx_lambdas - cxx_noexcept - cxx_nullptr - cxx_rvalue_references - cxx_thread_local - cxx_variadic_templates - ) - # Compiler feature for `context` same as for `fiber`. - set(_Boost_CONTEXT_COMPILER_FEATURES ${_Boost_FIBER_COMPILER_FEATURES}) - endif() - - # Boost Contract library available in >= 1.67 - if(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0) - # From `libs/contract/build/boost_contract_build.jam` - set(_Boost_CONTRACT_COMPILER_FEATURES - cxx_lambdas - cxx_variadic_templates - ) - endif() - - string(TOUPPER ${component} uppercomponent) - set(${_ret} ${_Boost_${uppercomponent}_COMPILER_FEATURES} PARENT_SCOPE) -endfunction() - -# -# Update library search directory hint variable with paths used by prebuilt boost binaries. -# -# Prebuilt windows binaries (https://sourceforge.net/projects/boost/files/boost-binaries/) -# have library directories named using MSVC compiler version and architecture. -# This function would append corresponding directories if MSVC is a current compiler, -# so having `BOOST_ROOT` would be enough to specify to find everything. -# -function(_Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS componentlibvar basedir) - if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC") - if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(_arch_suffix 64) - else() - set(_arch_suffix 32) - endif() - if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150) - # Not yet known. - elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140) - # MSVC toolset 14.x versions are forward compatible. - foreach(v 9 8 7 6 5 4 3 2 1 0) - if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v}) - list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-14.${v}) - endif() - endforeach() - elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80) - math(EXPR _toolset_major_version "${MSVC_TOOLSET_VERSION} / 10") - list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-${_toolset_major_version}.0) - endif() - set(${componentlibvar} ${${componentlibvar}} PARENT_SCOPE) - endif() -endfunction() - -# -# End functions/macros -# -#------------------------------------------------------------------------------- - -#------------------------------------------------------------------------------- -# main. -#------------------------------------------------------------------------------- - - -# If the user sets Boost_LIBRARY_DIR, use it as the default for both -# configurations. -if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR) - set(Boost_LIBRARY_DIR_RELEASE "${Boost_LIBRARY_DIR}") -endif() -if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR) - set(Boost_LIBRARY_DIR_DEBUG "${Boost_LIBRARY_DIR}") -endif() - -if(NOT DEFINED Boost_USE_DEBUG_LIBS) - set(Boost_USE_DEBUG_LIBS TRUE) -endif() -if(NOT DEFINED Boost_USE_RELEASE_LIBS) - set(Boost_USE_RELEASE_LIBS TRUE) -endif() -if(NOT DEFINED Boost_USE_MULTITHREADED) - set(Boost_USE_MULTITHREADED TRUE) -endif() -if(NOT DEFINED Boost_USE_DEBUG_RUNTIME) - set(Boost_USE_DEBUG_RUNTIME TRUE) -endif() - -# Check the version of Boost against the requested version. -if(Boost_FIND_VERSION AND NOT Boost_FIND_VERSION_MINOR) - message(SEND_ERROR "When requesting a specific version of Boost, you must provide at least the major and minor version numbers, e.g., 1.34") -endif() - -if(Boost_FIND_VERSION_EXACT) - # The version may appear in a directory with or without the patch - # level, even when the patch level is non-zero. - set(_boost_TEST_VERSIONS - "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}.${Boost_FIND_VERSION_PATCH}" - "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}") -else() - # The user has not requested an exact version. Among known - # versions, find those that are acceptable to the user request. - # - # Note: When adding a new Boost release, also update the dependency - # information in _Boost_COMPONENT_DEPENDENCIES and - # _Boost_COMPONENT_HEADERS. 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Search for static libs compiled against a STATIC C++ standard runtime library (use if found) -# We maintain this behavior since changing it could break people's builds. -# To disable the ambiguous behavior, the user need only -# set Boost_USE_STATIC_RUNTIME either ON or OFF. -set(_boost_STATIC_RUNTIME_WORKAROUND false) -if(WIN32 AND Boost_USE_STATIC_LIBS) - if(NOT DEFINED Boost_USE_STATIC_RUNTIME) - set(_boost_STATIC_RUNTIME_WORKAROUND TRUE) - endif() -endif() - -# On versions < 1.35, remove the System library from the considered list -# since it wasn't added until 1.35. -if(Boost_VERSION_STRING AND Boost_FIND_COMPONENTS) - if(Boost_VERSION_STRING VERSION_LESS 1.35.0) - list(REMOVE_ITEM Boost_FIND_COMPONENTS system) - endif() -endif() - -# Additional components may be required via component dependencies. -# Add any missing components to the list. -_Boost_MISSING_DEPENDENCIES(Boost_FIND_COMPONENTS _Boost_EXTRA_FIND_COMPONENTS) - -# If thread is required, get the thread libs as a dependency -if("thread" IN_LIST Boost_FIND_COMPONENTS) - if(Boost_FIND_QUIETLY) - set(_Boost_find_quiet QUIET) - else() - set(_Boost_find_quiet "") - endif() - find_package(Threads ${_Boost_find_quiet}) - unset(_Boost_find_quiet) -endif() - -# If the user changed any of our control inputs flush previous results. -if(_Boost_CHANGE_LIBDIR_DEBUG OR _Boost_CHANGE_LIBDIR_RELEASE OR _Boost_CHANGE_LIBNAME) - foreach(COMPONENT ${_Boost_COMPONENTS_SEARCHED}) - string(TOUPPER ${COMPONENT} UPPERCOMPONENT) - foreach(c DEBUG RELEASE) - set(_var Boost_${UPPERCOMPONENT}_LIBRARY_${c}) - unset(${_var} CACHE) - set(${_var} "${_var}-NOTFOUND") - endforeach() - endforeach() - set(_Boost_COMPONENTS_SEARCHED "") -endif() - -foreach(COMPONENT ${Boost_FIND_COMPONENTS}) - string(TOUPPER ${COMPONENT} UPPERCOMPONENT) - - set( _boost_docstring_release "Boost ${COMPONENT} library (release)") - set( _boost_docstring_debug "Boost ${COMPONENT} library (debug)") - - # Compute component-specific hints. - set(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT "") - if(${COMPONENT} STREQUAL "mpi" OR ${COMPONENT} STREQUAL "mpi_python" OR - ${COMPONENT} STREQUAL "graph_parallel") - foreach(lib ${MPI_CXX_LIBRARIES} ${MPI_C_LIBRARIES}) - if(IS_ABSOLUTE "${lib}") - get_filename_component(libdir "${lib}" PATH) - string(REPLACE "\\" "/" libdir "${libdir}") - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT ${libdir}) - endif() - endforeach() - endif() - - # Handle Python version suffixes - unset(COMPONENT_PYTHON_VERSION_MAJOR) - unset(COMPONENT_PYTHON_VERSION_MINOR) - if(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\$") - set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}") - set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}") - elseif(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\\.?([0-9])\$") - set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}") - set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}") - set(COMPONENT_PYTHON_VERSION_MINOR "${CMAKE_MATCH_3}") - endif() - - unset(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) - if (COMPONENT_PYTHON_VERSION_MINOR) - # Boost >= 1.67 - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") - # Debian/Ubuntu (Some versions omit the 2 and/or 3 from the suffix) - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") - # Gentoo - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}.${COMPONENT_PYTHON_VERSION_MINOR}") - # RPMs - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}") - endif() - if (COMPONENT_PYTHON_VERSION_MAJOR AND NOT COMPONENT_PYTHON_VERSION_MINOR) - # Boost < 1.67 - list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}") - endif() - - # Consolidate and report component-specific hints. - if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) - list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME) - _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "Component-specific library search names for ${COMPONENT_NAME}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME}") - endif() - if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) - list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT) - _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "Component-specific library search paths for ${COMPONENT}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT}") - endif() - - # - # Find headers - # - _Boost_COMPONENT_HEADERS("${COMPONENT}" Boost_${UPPERCOMPONENT}_HEADER_NAME) - # Look for a standard boost header file. - if(Boost_${UPPERCOMPONENT}_HEADER_NAME) - if(EXISTS "${Boost_INCLUDE_DIR}/${Boost_${UPPERCOMPONENT}_HEADER_NAME}") - set(Boost_${UPPERCOMPONENT}_HEADER ON) - else() - set(Boost_${UPPERCOMPONENT}_HEADER OFF) - endif() - else() - set(Boost_${UPPERCOMPONENT}_HEADER ON) - message(WARNING "No header defined for ${COMPONENT}; skipping header check") - endif() - - # - # Find RELEASE libraries - # - unset(_boost_RELEASE_NAMES) - foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT) - foreach(compiler IN LISTS _boost_COMPILER) - list(APPEND _boost_RELEASE_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG} ) - endforeach() - list(APPEND _boost_RELEASE_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} ) - if(_boost_STATIC_RUNTIME_WORKAROUND) - set(_boost_RELEASE_STATIC_ABI_TAG "-s${_boost_RELEASE_ABI_TAG}") - foreach(compiler IN LISTS _boost_COMPILER) - list(APPEND _boost_RELEASE_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} ) - endforeach() - list(APPEND _boost_RELEASE_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} ) - endif() - endforeach() - if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread") - _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_RELEASE_NAMES ${_boost_RELEASE_NAMES}) - endif() - _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "Searching for ${UPPERCOMPONENT}_LIBRARY_RELEASE: ${_boost_RELEASE_NAMES}") - - # if Boost_LIBRARY_DIR_RELEASE is not defined, - # but Boost_LIBRARY_DIR_DEBUG is, look there first for RELEASE libs - if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR_DEBUG) - list(INSERT _boost_LIBRARY_SEARCH_DIRS_RELEASE 0 ${Boost_LIBRARY_DIR_DEBUG}) - endif() - - # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing. - string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_RELEASE}") - - if(Boost_USE_RELEASE_LIBS) - _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE RELEASE - NAMES ${_boost_RELEASE_NAMES} - HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp} - NAMES_PER_DIR - DOC "${_boost_docstring_release}" - ) - endif() - - # - # Find DEBUG libraries - # - unset(_boost_DEBUG_NAMES) - foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT) - foreach(compiler IN LISTS _boost_COMPILER) - list(APPEND _boost_DEBUG_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG} ) - endforeach() - list(APPEND _boost_DEBUG_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} ) - if(_boost_STATIC_RUNTIME_WORKAROUND) - set(_boost_DEBUG_STATIC_ABI_TAG "-s${_boost_DEBUG_ABI_TAG}") - foreach(compiler IN LISTS _boost_COMPILER) - list(APPEND _boost_DEBUG_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} ) - endforeach() - list(APPEND _boost_DEBUG_NAMES - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG} - ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} ) - endif() - endforeach() - if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread") - _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_DEBUG_NAMES ${_boost_DEBUG_NAMES}) - endif() - _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" - "Searching for ${UPPERCOMPONENT}_LIBRARY_DEBUG: ${_boost_DEBUG_NAMES}") - - # if Boost_LIBRARY_DIR_DEBUG is not defined, - # but Boost_LIBRARY_DIR_RELEASE is, look there first for DEBUG libs - if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR_RELEASE) - list(INSERT _boost_LIBRARY_SEARCH_DIRS_DEBUG 0 ${Boost_LIBRARY_DIR_RELEASE}) - endif() - - # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing. - string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_DEBUG}") - - if(Boost_USE_DEBUG_LIBS) - _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG DEBUG - NAMES ${_boost_DEBUG_NAMES} - HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp} - NAMES_PER_DIR - DOC "${_boost_docstring_debug}" - ) - endif () - - if(Boost_REALPATH) - _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE "${_boost_docstring_release}") - _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG "${_boost_docstring_debug}" ) - endif() - - _Boost_ADJUST_LIB_VARS(${UPPERCOMPONENT}) - - # Check if component requires some compiler features - _Boost_COMPILER_FEATURES(${COMPONENT} _Boost_${UPPERCOMPONENT}_COMPILER_FEATURES) - -endforeach() - -# Restore the original find library ordering -if( Boost_USE_STATIC_LIBS ) - set(CMAKE_FIND_LIBRARY_SUFFIXES ${_boost_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES}) -endif() - -# ------------------------------------------------------------------------ -# End finding boost libraries -# ------------------------------------------------------------------------ - -set(Boost_INCLUDE_DIRS ${Boost_INCLUDE_DIR}) -set(Boost_LIBRARY_DIRS) -if(Boost_LIBRARY_DIR_RELEASE) - list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_RELEASE}) -endif() -if(Boost_LIBRARY_DIR_DEBUG) - list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_DEBUG}) -endif() -if(Boost_LIBRARY_DIRS) - list(REMOVE_DUPLICATES Boost_LIBRARY_DIRS) -endif() - -# ------------------------------------------------------------------------ -# Call FPHSA helper, see https://cmake.org/cmake/help/latest/module/FindPackageHandleStandardArgs.html -# ------------------------------------------------------------------------ - -# Define aliases as needed by the component handler in the FPHSA helper below -foreach(_comp IN LISTS Boost_FIND_COMPONENTS) - string(TOUPPER ${_comp} _uppercomp) - if(DEFINED Boost_${_uppercomp}_FOUND) - set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND}) - endif() -endforeach() - -find_package_handle_standard_args(Boost - REQUIRED_VARS Boost_INCLUDE_DIR - VERSION_VAR Boost_VERSION_STRING - HANDLE_COMPONENTS) - -if(Boost_FOUND) - if( NOT Boost_LIBRARY_DIRS ) - # Compatibility Code for backwards compatibility with CMake - # 2.4's FindBoost module. - - # Look for the boost library path. - # Note that the user may not have installed any libraries - # so it is quite possible the Boost_LIBRARY_DIRS may not exist. - set(_boost_LIB_DIR ${Boost_INCLUDE_DIR}) - - if("${_boost_LIB_DIR}" MATCHES "boost-[0-9]+") - get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH) - endif() - - if("${_boost_LIB_DIR}" MATCHES "/include$") - # Strip off the trailing "/include" in the path. - get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH) - endif() - - if(EXISTS "${_boost_LIB_DIR}/lib") - string(APPEND _boost_LIB_DIR /lib) - elseif(EXISTS "${_boost_LIB_DIR}/stage/lib") - string(APPEND _boost_LIB_DIR "/stage/lib") - else() - set(_boost_LIB_DIR "") - endif() - - if(_boost_LIB_DIR AND EXISTS "${_boost_LIB_DIR}") - set(Boost_LIBRARY_DIRS ${_boost_LIB_DIR}) - endif() - - endif() -else() - 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endif() - - foreach(COMPONENT ${Boost_FIND_COMPONENTS}) - if(_Boost_IMPORTED_TARGETS AND NOT TARGET Boost::${COMPONENT}) - string(TOUPPER ${COMPONENT} UPPERCOMPONENT) - if(Boost_${UPPERCOMPONENT}_FOUND) - if(Boost_USE_STATIC_LIBS) - add_library(Boost::${COMPONENT} STATIC IMPORTED) - else() - # Even if Boost_USE_STATIC_LIBS is OFF, we might have static - # libraries as a result. - add_library(Boost::${COMPONENT} UNKNOWN IMPORTED) - endif() - if(Boost_INCLUDE_DIRS) - set_target_properties(Boost::${COMPONENT} PROPERTIES - INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}") - endif() - if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY}") - set_target_properties(Boost::${COMPONENT} PROPERTIES - IMPORTED_LINK_INTERFACE_LANGUAGES "CXX" - IMPORTED_LOCATION "${Boost_${UPPERCOMPONENT}_LIBRARY}") - endif() - if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE}") - set_property(TARGET Boost::${COMPONENT} APPEND PROPERTY - IMPORTED_CONFIGURATIONS RELEASE) - set_target_properties(Boost::${COMPONENT} PROPERTIES - 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set_target_properties(Boost::${COMPONENT} PROPERTIES - INTERFACE_COMPILE_FEATURES "${_Boost_${UPPERCOMPONENT}_COMPILER_FEATURES}") - endif() - endif() - endif() - endforeach() -endif() - -# ------------------------------------------------------------------------ -# Finalize -# ------------------------------------------------------------------------ - -# Report Boost_LIBRARIES -set(Boost_LIBRARIES "") -foreach(_comp IN LISTS Boost_FIND_COMPONENTS) - string(TOUPPER ${_comp} _uppercomp) - if(Boost_${_uppercomp}_FOUND) - list(APPEND Boost_LIBRARIES ${Boost_${_uppercomp}_LIBRARY}) - if(_comp STREQUAL "thread") - list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT}) - endif() - endif() -endforeach() - -# Configure display of cache entries in GUI. -foreach(v BOOSTROOT BOOST_ROOT ${_Boost_VARS_INC} ${_Boost_VARS_LIB}) - get_property(_type CACHE ${v} PROPERTY TYPE) - if(_type) - set_property(CACHE ${v} PROPERTY ADVANCED 1) - if("x${_type}" STREQUAL "xUNINITIALIZED") - if("x${v}" STREQUAL "xBoost_ADDITIONAL_VERSIONS") - set_property(CACHE ${v} PROPERTY TYPE STRING) - else() - set_property(CACHE ${v} PROPERTY TYPE PATH) - endif() - endif() - endif() -endforeach() - -# Record last used values of input variables so we can -# detect on the next run if the user changed them. -foreach(v - ${_Boost_VARS_INC} ${_Boost_VARS_LIB} - ${_Boost_VARS_DIR} ${_Boost_VARS_NAME} - ) - if(DEFINED ${v}) - set(_${v}_LAST "${${v}}" CACHE INTERNAL "Last used ${v} value.") - else() - unset(_${v}_LAST CACHE) - endif() -endforeach() - -# Maintain a persistent list of components requested anywhere since -# the last flush. -set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}") -list(APPEND _Boost_COMPONENTS_SEARCHED ${Boost_FIND_COMPONENTS}) -list(REMOVE_DUPLICATES _Boost_COMPONENTS_SEARCHED) -list(SORT _Boost_COMPONENTS_SEARCHED) -set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}" - CACHE INTERNAL "Components requested for this build tree.") - -# Restore project's policies -cmake_policy(POP) diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake index 43ee5b57b..04d27c27f 100644 --- a/cmake/HandlePrintConfiguration.cmake +++ b/cmake/HandlePrintConfiguration.cmake @@ -33,6 +33,7 @@ print_build_options_for_target(gtsam) print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") print_config("Use System Metis" "${GTSAM_USE_SYSTEM_METIS}") +print_config("Using Boost version" "${Boost_VERSION}") if(GTSAM_USE_TBB) print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})") diff --git a/gtsam/basis/basis.i b/gtsam/basis/basis.i index a6c9d87ee..0cd87ba65 100644 --- a/gtsam/basis/basis.i +++ b/gtsam/basis/basis.i @@ -137,7 +137,7 @@ class FitBasis { static gtsam::GaussianFactorGraph::shared_ptr LinearGraph( const std::map& sequence, const gtsam::noiseModel::Base* model, size_t N); - This::Parameters parameters() const; + gtsam::This::Parameters parameters() const; }; } // namespace gtsam diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i index 4ebff6c03..1b1169d2f 100644 --- a/gtsam/geometry/geometry.i +++ b/gtsam/geometry/geometry.i @@ -1126,10 +1126,10 @@ class TriangulationResult { Status status; TriangulationResult(const gtsam::Point3& p); const gtsam::Point3& get() const; - static TriangulationResult Degenerate(); - static TriangulationResult Outlier(); - static TriangulationResult FarPoint(); - static TriangulationResult BehindCamera(); + static gtsam::TriangulationResult Degenerate(); + static gtsam::TriangulationResult Outlier(); + static gtsam::TriangulationResult FarPoint(); + static gtsam::TriangulationResult BehindCamera(); bool valid() const; bool degenerate() const; bool outlier() const; diff --git a/gtsam/groups.dox b/gtsam/groups.dox index 6031b33bb..6f7124c42 100644 --- a/gtsam/groups.dox +++ b/gtsam/groups.dox @@ -11,4 +11,7 @@ @} -*/ \ No newline at end of file +\defgroup SLAM Useful SLAM components +@{ @} + +*/ diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index d4e959c3d..2671f0ef7 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -66,27 +66,6 @@ class KeySet { void serialize() const; }; -// Actually a vector -class KeyVector { - KeyVector(); - KeyVector(const gtsam::KeyVector& other); - - // Note: no print function - - // common STL methods - size_t size() const; - bool empty() const; - void clear(); - - // structure specific methods - size_t at(size_t i) const; - size_t front() const; - size_t back() const; - void push_back(size_t key) const; - - void serialize() const; -}; - // Actually a FastMap class KeyGroupMap { KeyGroupMap(); diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 213f5f223..54c5a7dbb 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -123,7 +123,7 @@ public: * it is received from the IMU) so as to avoid costly integration at time of * factor construction. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType { @@ -252,7 +252,7 @@ public: * the correlation between the bias uncertainty and the preintegrated * measurements uncertainty. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6 { diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 740827162..c3b398e22 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType; * as soon as it is received from the IMU) so as to avoid costly integration * at time of factor construction. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType { @@ -165,7 +165,7 @@ public: * (which are usually slowly varying quantities), which is up to the caller. * See also CombinedImuFactor for a class that does this for you. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5 { @@ -256,7 +256,7 @@ public: /** * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity. - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3 { private: diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h index 615b5418e..8580a4949 100644 --- a/gtsam/nonlinear/CustomFactor.h +++ b/gtsam/nonlinear/CustomFactor.h @@ -19,8 +19,6 @@ #include -using namespace gtsam; - namespace gtsam { using JacobianVector = std::vector; diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h index eb1c0233f..065278573 100644 --- a/gtsam/nonlinear/GncOptimizer.h +++ b/gtsam/nonlinear/GncOptimizer.h @@ -42,7 +42,7 @@ static double Chi2inv(const double alpha, const size_t dofs) { /* ************************************************************************* */ template -class GTSAM_EXPORT GncOptimizer { +class GncOptimizer { public: /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer. typedef typename GncParameters::OptimizerType BaseOptimizer; diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h index 1f324ae38..10ac80663 100644 --- a/gtsam/nonlinear/GncParams.h +++ b/gtsam/nonlinear/GncParams.h @@ -39,7 +39,7 @@ enum GncLossType { }; template -class GTSAM_EXPORT GncParams { +class GncParams { public: /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer. typedef typename BaseOptimizerParameters::OptimizerType OptimizerType; @@ -72,8 +72,14 @@ class GTSAM_EXPORT GncParams { double relativeCostTol = 1e-5; ///< If relative cost change is below this threshold, stop iterating double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS) Verbosity verbosity = SILENT; ///< Verbosity level - std::vector knownInliers = std::vector(); ///< Slots in the factor graph corresponding to measurements that we know are inliers - std::vector knownOutliers = std::vector(); ///< Slots in the factor graph corresponding to measurements that we know are outliers + + //TODO(Varun) replace IndexVector with vector once pybind11/stl.h is globally enabled. + /// Use IndexVector for inliers and outliers since it is fast + wrapping + using IndexVector = FastVector; + ///< Slots in the factor graph corresponding to measurements that we know are inliers + IndexVector knownInliers = IndexVector(); + ///< Slots in the factor graph corresponding to measurements that we know are outliers + IndexVector knownOutliers = IndexVector(); /// Set the robust loss function to be used in GNC (chosen among the ones in GncLossType). void setLossType(const GncLossType type) { @@ -114,7 +120,7 @@ class GTSAM_EXPORT GncParams { * This functionality is commonly used in SLAM when one may assume the odometry is outlier free, and * only apply GNC to prune outliers from the loop closures. * */ - void setKnownInliers(const std::vector& knownIn) { + void setKnownInliers(const IndexVector& knownIn) { for (size_t i = 0; i < knownIn.size(); i++){ knownInliers.push_back(knownIn[i]); } @@ -125,7 +131,7 @@ class GTSAM_EXPORT GncParams { * corresponds to the slots in the factor graph. For instance, if you have a nonlinear factor graph nfg, * and you provide knownOut = {0, 2, 15}, GNC will not apply outlier rejection to nfg[0], nfg[2], and nfg[15]. * */ - void setKnownOutliers(const std::vector& knownOut) { + void setKnownOutliers(const IndexVector& knownOut) { for (size_t i = 0; i < knownOut.size(); i++){ knownOutliers.push_back(knownOut[i]); } @@ -163,7 +169,7 @@ class GTSAM_EXPORT GncParams { std::cout << "knownInliers: " << knownInliers[i] << "\n"; for (size_t i = 0; i < knownOutliers.size(); i++) std::cout << "knownOutliers: " << knownOutliers[i] << "\n"; - baseOptimizerParams.print(str); + baseOptimizerParams.print("Base optimizer params: "); } }; diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp index 3d572e970..debff54ac 100644 --- a/gtsam/nonlinear/NonlinearFactor.cpp +++ b/gtsam/nonlinear/NonlinearFactor.cpp @@ -167,8 +167,9 @@ boost::shared_ptr NoiseModelFactor::linearize( return GaussianFactor::shared_ptr( new JacobianFactor(terms, b, boost::static_pointer_cast(noiseModel_)->unit())); - else + else { return GaussianFactor::shared_ptr(new JacobianFactor(terms, b)); + } } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h index a490162ac..c5124a3fe 100644 --- a/gtsam/nonlinear/PriorFactor.h +++ b/gtsam/nonlinear/PriorFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * A class for a soft prior on any Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class PriorFactor: public NoiseModelFactor1 { diff --git a/gtsam/nonlinear/custom.i b/gtsam/nonlinear/custom.i new file mode 100644 index 000000000..0d195a91b --- /dev/null +++ b/gtsam/nonlinear/custom.i @@ -0,0 +1,38 @@ +//************************************************************************* +// Custom Factor wrapping +//************************************************************************* + +namespace gtsam { + +#include +virtual class CustomFactor : gtsam::NoiseModelFactor { + /* + * Note CustomFactor will not be wrapped for MATLAB, as there is no supporting + * machinery there. This is achieved by adding `gtsam::CustomFactor` to the + * ignore list in `matlab/CMakeLists.txt`. + */ + CustomFactor(); + /* + * Example: + * ``` + * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): + * + * if not H is None: + * + * H[0] = J1 # 2-d numpy array for a Jacobian block + * H[1] = J2 + * ... + * return error # 1-d numpy array + * + * cf = CustomFactor(noise_model, keys, error_func) + * ``` + */ + CustomFactor(const gtsam::SharedNoiseModel& noiseModel, + const gtsam::KeyVector& keys, + const gtsam::CustomErrorFunction& errorFunction); + + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); +}; + +} \ No newline at end of file diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i index 033e5ced2..55966ee84 100644 --- a/gtsam/nonlinear/nonlinear.i +++ b/gtsam/nonlinear/nonlinear.i @@ -99,11 +99,11 @@ class NonlinearFactorGraph { string dot( const gtsam::Values& values, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter, - const GraphvizFormatting& writer = GraphvizFormatting()); + const gtsam::GraphvizFormatting& writer = gtsam::GraphvizFormatting()); void saveGraph( const string& s, const gtsam::Values& values, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter, - const GraphvizFormatting& writer = GraphvizFormatting()) const; + const gtsam::GraphvizFormatting& writer = gtsam::GraphvizFormatting()) const; // enabling serialization functionality void serialize() const; @@ -135,37 +135,6 @@ virtual class NoiseModelFactor : gtsam::NonlinearFactor { Vector whitenedError(const gtsam::Values& x) const; }; -#include -virtual class CustomFactor : gtsam::NoiseModelFactor { - /* - * Note CustomFactor will not be wrapped for MATLAB, as there is no supporting - * machinery there. This is achieved by adding `gtsam::CustomFactor` to the - * ignore list in `matlab/CMakeLists.txt`. - */ - CustomFactor(); - /* - * Example: - * ``` - * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]): - * - * if not H is None: - * - * H[0] = J1 # 2-d numpy array for a Jacobian block - * H[1] = J2 - * ... - * return error # 1-d numpy array - * - * cf = CustomFactor(noise_model, keys, error_func) - * ``` - */ - CustomFactor(const gtsam::SharedNoiseModel& noiseModel, - const gtsam::KeyVector& keys, - const gtsam::CustomErrorFunction& errorFunction); - - void print(string s = "", - gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); -}; - #include class Values { Values(); @@ -544,12 +513,34 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams { }; #include +enum GncLossType { + GM /*Geman McClure*/, + TLS /*Truncated least squares*/ +}; + template virtual class GncParams { GncParams(const PARAMS& baseOptimizerParams); GncParams(); - void setVerbosityGNC(const This::Verbosity value); - void print(const string& str) const; + BaseOptimizerParameters baseOptimizerParams; + gtsam::GncLossType lossType; + size_t maxIterations; + double muStep; + double relativeCostTol; + double weightsTol; + Verbosity verbosity; + gtsam::KeyVector knownInliers; + gtsam::KeyVector knownOutliers; + + void setLossType(const gtsam::GncLossType type); + void setMaxIterations(const size_t maxIter); + void setMuStep(const double step); + void setRelativeCostTol(double value); + void setWeightsTol(double value); + void setVerbosityGNC(const gtsam::This::Verbosity value); + void setKnownInliers(const gtsam::KeyVector& knownIn); + void setKnownOutliers(const gtsam::KeyVector& knownOut); + void print(const string& str = "GncParams: ") const; enum Verbosity { SILENT, @@ -597,6 +588,11 @@ virtual class GncOptimizer { GncOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const PARAMS& params); + void setInlierCostThresholds(const double inth); + const Vector& getInlierCostThresholds(); + void setInlierCostThresholdsAtProbability(const double alpha); + void setWeights(const Vector w); + const Vector& getWeights(); gtsam::Values optimize(); }; @@ -705,7 +701,7 @@ class ISAM2Result { /** Getters and Setters for all properties */ size_t getVariablesRelinearized() const; size_t getVariablesReeliminated() const; - FactorIndices getNewFactorsIndices() const; + gtsam::FactorIndices getNewFactorsIndices() const; size_t getCliques() const; double getErrorBefore() const; double getErrorAfter() const; @@ -873,7 +869,7 @@ template , gtsam::imuBias::ConstantBias}> virtual class NonlinearEquality2 : gtsam::NoiseModelFactor { - NonlinearEquality2(Key key1, Key key2, double mu = 1e4); + NonlinearEquality2(gtsam::Key key1, gtsam::Key key2, double mu = 1e4); gtsam::Vector evaluateError(const T& x1, const T& x2); }; diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h index 9874760c4..c83009651 100644 --- a/gtsam/sam/BearingRangeFactor.h +++ b/gtsam/sam/BearingRangeFactor.h @@ -27,7 +27,7 @@ namespace gtsam { /** * Binary factor for a bearing/range measurement - * @addtogroup SLAM + * @ingroup SLAM */ template ::result_type, diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 3b559fe79..a0d6a1207 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -26,7 +26,7 @@ namespace gtsam { * A class for downdating an existing factor from a graph. The AntiFactor returns the same * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively * cancels out any affects of the original factor during optimization." - * @addtogroup SLAM + * @ingroup SLAM */ class AntiFactor: public NonlinearFactor { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index f80462847..fc1dc4481 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -34,7 +34,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class BetweenFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h index 3d5842fa2..07c765669 100644 --- a/gtsam/slam/BoundingConstraint.h +++ b/gtsam/slam/BoundingConstraint.h @@ -27,7 +27,7 @@ namespace gtsam { * greater/less than a fixed threshold. The function * will need to have its value function implemented to return * a scalar for comparison. - * @addtogroup SLAM + * @ingroup SLAM */ template struct BoundingConstraint1: public NoiseModelFactor1 { diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h index 6274be963..91487b522 100644 --- a/gtsam/slam/EssentialMatrixConstraint.h +++ b/gtsam/slam/EssentialMatrixConstraint.h @@ -25,7 +25,7 @@ namespace gtsam { /** * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2 { diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index bfc3a0f78..5cf8d5b75 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -54,7 +54,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. * The calibration is unknown here compared to GenericProjectionFactor - * @addtogroup SLAM + * @ingroup SLAM */ template class GeneralSFMFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 42dba8bd0..e01b9b0b8 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -33,7 +33,7 @@ namespace gtsam { * Non-linear factor for a constraint derived from a 2D measurement. * The calibration is known here. * The main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index f4c0c73aa..f1403bdb1 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally @@ -39,7 +39,7 @@ namespace gtsam { * The factor only constrains poses (variable dimension is 6). * This factor requires that values contains the involved poses (Pose3). * If the calibration should be optimized, as well, use SmartProjectionFactor instead! - * @addtogroup SLAM + * @ingroup SLAM */ template class SmartProjectionPoseFactor diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h index 149c12928..40af55b2c 100644 --- a/gtsam/slam/SmartProjectionRigFactor.h +++ b/gtsam/slam/SmartProjectionRigFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating @@ -46,7 +46,7 @@ namespace gtsam { * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor * instead! If the calibration should be optimized, as well, use * SmartProjectionFactor instead! - * @addtogroup SLAM + * @ingroup SLAM */ template class SmartProjectionRigFactor : public SmartProjectionFactor { diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index de084c762..b2fdbf7a4 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A Generic Stereo Factor - * @addtogroup SLAM + * @ingroup SLAM */ template class GenericStereoFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index b6da02d55..405436b82 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -27,7 +27,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. * The calibration and pose are assumed known. - * @addtogroup SLAM + * @ingroup SLAM */ template class TriangulationFactor: public NoiseModelFactor1 { diff --git a/gtsam_unstable/partition/tests/CMakeLists.txt b/gtsam_unstable/partition/tests/CMakeLists.txt index 9e74d9996..d89a1fe98 100644 --- a/gtsam_unstable/partition/tests/CMakeLists.txt +++ b/gtsam_unstable/partition/tests/CMakeLists.txt @@ -1,2 +1,2 @@ set(ignore_test "testNestedDissection.cpp") -gtsamAddTestsGlob(partition "test*.cpp" "${ignore_test}" "gtsam_unstable;gtsam;metis-gtsam") +gtsamAddTestsGlob(partition "test*.cpp" "${ignore_test}" "gtsam_unstable;gtsam;metis-gtsam-if") diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h index 9c19bae8c..ffaa05c7d 100644 --- a/gtsam_unstable/slam/BetweenFactorEM.h +++ b/gtsam_unstable/slam/BetweenFactorEM.h @@ -28,7 +28,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class BetweenFactorEM: public NonlinearFactor { diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h index f2e9d3fa8..5359fac4e 100644 --- a/gtsam_unstable/slam/BiasedGPSFactor.h +++ b/gtsam_unstable/slam/BiasedGPSFactor.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A class to model GPS measurements, including a bias term which models * common-mode errors and that can be partially corrected if other sensors are used - * @addtogroup SLAM + * @ingroup SLAM */ class BiasedGPSFactor: public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h index afc9e0b18..bd4f64fd7 100644 --- a/gtsam_unstable/slam/MultiProjectionFactor.h +++ b/gtsam_unstable/slam/MultiProjectionFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template class MultiProjectionFactor: public NoiseModelFactor { diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h index a6c583418..a55f3a6e3 100644 --- a/gtsam_unstable/slam/PoseBetweenFactor.h +++ b/gtsam_unstable/slam/PoseBetweenFactor.h @@ -26,7 +26,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam POSE the Pose type - * @addtogroup SLAM + * @ingroup SLAM */ template class PoseBetweenFactor: public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h index f657fc443..6668a9b4b 100644 --- a/gtsam_unstable/slam/PosePriorFactor.h +++ b/gtsam_unstable/slam/PosePriorFactor.h @@ -23,7 +23,7 @@ namespace gtsam { /** * A class for a soft prior on any Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class PosePriorFactor: public NoiseModelFactor1 { diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h index b9b2ad5ce..071d13aec 100644 --- a/gtsam_unstable/slam/PoseToPointFactor.h +++ b/gtsam_unstable/slam/PoseToPointFactor.h @@ -18,7 +18,7 @@ namespace gtsam { /** * A class for a measurement between a pose and a point. - * @addtogroup SLAM + * @ingroup SLAM */ template class PoseToPointFactor : public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h index 84adda707..41f79d614 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPP.h +++ b/gtsam_unstable/slam/ProjectionFactorPPP.h @@ -28,7 +28,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template class ProjectionFactorPPP: public NoiseModelFactor3 { diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h index 18ee13b9a..ec0a426f9 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPPC.h +++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h @@ -30,7 +30,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. This factor * estimates the body pose, body-camera transform, 3D landmark, and calibration. - * @addtogroup SLAM + * @ingroup SLAM */ template class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h index 2aeaa4824..c349fd095 100644 --- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h +++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h @@ -38,7 +38,7 @@ namespace gtsam { * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose * interpolated between A and B by the alpha to project the corresponding * landmark to Point2. - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h index ff84fcd16..b2f58f75f 100644 --- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h +++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h @@ -25,7 +25,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -39,7 +39,7 @@ namespace gtsam { * shutter model of the camera with given readout time. The factor requires that * values contain (for each pixel observation) two consecutive camera poses from * which the pixel observation pose can be interpolated. - * @addtogroup SLAM + * @ingroup SLAM */ template class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h index 14e97f6bc..8a2a1d3a8 100644 --- a/gtsam_unstable/slam/SmartRangeFactor.h +++ b/gtsam_unstable/slam/SmartRangeFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * Smart factor for range SLAM - * @addtogroup SLAM + * @ingroup SLAM */ class SmartRangeFactor: public NoiseModelFactor { protected: diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h index e20241a0e..e1bc01691 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h @@ -23,7 +23,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -38,7 +38,7 @@ namespace gtsam { * calibration or the same calibration can be shared by multiple cameras. This * factor requires that values contain the involved poses and extrinsics (both * are Pose3 variables). - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor { diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index a46000a68..9e83b7736 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -26,7 +26,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -41,7 +41,7 @@ namespace gtsam { * has its own calibration. * The factor only constrains poses (variable dimension is 6). * This factor requires that values contains the involved poses (Pose3). - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor : public SmartStereoProjectionFactor { diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h index 956c75999..80d2abf9b 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ? diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h index 2b2edfae9..cce18cc44 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h @@ -31,7 +31,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor { diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index a657c6be7..a77db06a4 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -73,6 +73,7 @@ set(interface_files ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i + ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/custom.i ${GTSAM_SOURCE_DIR}/gtsam/symbolic/symbolic.i ${GTSAM_SOURCE_DIR}/gtsam/sam/sam.i ${GTSAM_SOURCE_DIR}/gtsam/slam/slam.i @@ -98,7 +99,6 @@ endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX) # Record the root dir for gtsam - needed during external builds, e.g., ROS set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR}) -message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") # Tests message(STATUS "Installing Matlab Toolbox") install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig") diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 0d63c6c54..4457678d2 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -61,6 +61,7 @@ set(interface_headers ${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i ${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i + ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/custom.i ${PROJECT_SOURCE_DIR}/gtsam/symbolic/symbolic.i ${PROJECT_SOURCE_DIR}/gtsam/sam/sam.i ${PROJECT_SOURCE_DIR}/gtsam/slam/slam.i diff --git a/python/gtsam/preamble/custom.h b/python/gtsam/preamble/custom.h new file mode 100644 index 000000000..d07a75f6f --- /dev/null +++ b/python/gtsam/preamble/custom.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 + * automatic STL binding, such that the raw objects can be accessed in Python. + * Without this they will be automatically converted to a Python object, and all + * mutations on Python side will not be reflected on C++. + */ diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h index a34e73058..d07a75f6f 100644 --- a/python/gtsam/preamble/nonlinear.h +++ b/python/gtsam/preamble/nonlinear.h @@ -9,4 +9,4 @@ * automatic STL binding, such that the raw objects can be accessed in Python. * Without this they will be automatically converted to a Python object, and all * mutations on Python side will not be reflected on C++. - */ \ No newline at end of file + */ diff --git a/python/gtsam/specializations/custom.h b/python/gtsam/specializations/custom.h new file mode 100644 index 000000000..d46ccdc66 --- /dev/null +++ b/python/gtsam/specializations/custom.h @@ -0,0 +1,12 @@ +/* Please refer to: + * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html + * These are required to save one copy operation on Python calls. + * + * NOTES + * ================= + * + * `py::bind_vector` and similar machinery gives the std container a Python-like + * interface, but without the `` copying mechanism. Combined + * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, + * and saves one copy operation. + */ \ No newline at end of file diff --git a/python/gtsam/specializations/nonlinear.h b/python/gtsam/specializations/nonlinear.h index d46ccdc66..da8842eaf 100644 --- a/python/gtsam/specializations/nonlinear.h +++ b/python/gtsam/specializations/nonlinear.h @@ -9,4 +9,4 @@ * interface, but without the `` copying mechanism. Combined * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python, * and saves one copy operation. - */ \ No newline at end of file + */ diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py index 37afd9e1c..a47c5ad62 100644 --- a/python/gtsam/tests/test_NonlinearOptimizer.py +++ b/python/gtsam/tests/test_NonlinearOptimizer.py @@ -15,10 +15,12 @@ from __future__ import print_function import unittest import gtsam -from gtsam import (DoglegOptimizer, DoglegParams, DummyPreconditionerParameters, - GaussNewtonOptimizer, GaussNewtonParams, GncLMParams, GncLMOptimizer, - LevenbergMarquardtOptimizer, LevenbergMarquardtParams, NonlinearFactorGraph, - Ordering, PCGSolverParameters, Point2, PriorFactorPoint2, Values) +from gtsam import ( + DoglegOptimizer, DoglegParams, DummyPreconditionerParameters, GaussNewtonOptimizer, + GaussNewtonParams, GncLMParams, GncLossType, GncLMOptimizer, LevenbergMarquardtOptimizer, + LevenbergMarquardtParams, NonlinearFactorGraph, Ordering, PCGSolverParameters, Point2, + PriorFactorPoint2, Values +) from gtsam.utils.test_case import GtsamTestCase KEY1 = 1 @@ -27,7 +29,6 @@ KEY2 = 2 class TestScenario(GtsamTestCase): """Do trivial test with three optimizer variants.""" - def setUp(self): """Set up the optimization problem and ordering""" # create graph @@ -83,16 +84,83 @@ class TestScenario(GtsamTestCase): actual = GncLMOptimizer(self.fg, self.initial_values, gncParams).optimize() self.assertAlmostEqual(0, self.fg.error(actual)) + def test_gnc_params(self): + base_params = LevenbergMarquardtParams() + # Test base params + for base_max_iters in (50, 100): + base_params.setMaxIterations(base_max_iters) + params = GncLMParams(base_params) + self.assertEqual(params.baseOptimizerParams.getMaxIterations(), base_max_iters) + + # Test printing + params_str = str(params) + for s in ( + "lossType", + "maxIterations", + "muStep", + "relativeCostTol", + "weightsTol", + "verbosity", + ): + self.assertTrue(s in params_str) + + # Test each parameter + for loss_type in (GncLossType.TLS, GncLossType.GM): + params.setLossType(loss_type) # Default is TLS + self.assertEqual(params.lossType, loss_type) + for max_iter in (1, 10, 100): + params.setMaxIterations(max_iter) + self.assertEqual(params.maxIterations, max_iter) + for mu_step in (1.1, 1.2, 1.5): + params.setMuStep(mu_step) + self.assertEqual(params.muStep, mu_step) + for rel_cost_tol in (1e-5, 1e-6, 1e-7): + params.setRelativeCostTol(rel_cost_tol) + self.assertEqual(params.relativeCostTol, rel_cost_tol) + for weights_tol in (1e-4, 1e-3, 1e-2): + params.setWeightsTol(weights_tol) + self.assertEqual(params.weightsTol, weights_tol) + for i in (0, 1, 2): + verb = GncLMParams.Verbosity(i) + params.setVerbosityGNC(verb) + self.assertEqual(params.verbosity, verb) + for inl in ([], [10], [0, 100]): + params.setKnownInliers(inl) + self.assertEqual(params.knownInliers, inl) + params.knownInliers = [] + for out in ([], [1], [0, 10]): + params.setKnownInliers(out) + self.assertEqual(params.knownInliers, out) + params.knownInliers = [] + + # Test optimizer params + optimizer = GncLMOptimizer(self.fg, self.initial_values, params) + for ict_factor in (0.9, 1.1): + new_ict = ict_factor * optimizer.getInlierCostThresholds() + optimizer.setInlierCostThresholds(new_ict) + self.assertAlmostEqual(optimizer.getInlierCostThresholds(), new_ict) + for w_factor in (0.8, 0.9): + new_weights = w_factor * optimizer.getWeights() + optimizer.setWeights(new_weights) + self.assertAlmostEqual(optimizer.getWeights(), new_weights) + optimizer.setInlierCostThresholdsAtProbability(0.9) + w1 = optimizer.getInlierCostThresholds() + optimizer.setInlierCostThresholdsAtProbability(0.8) + w2 = optimizer.getInlierCostThresholds() + self.assertLess(w2, w1) + def test_iteration_hook(self): # set up iteration hook to track some testable values iteration_count = 0 final_error = 0 final_values = None + def iteration_hook(iter, error_before, error_after): nonlocal iteration_count, final_error, final_values iteration_count = iter final_error = error_after final_values = optimizer.values() + # optimize params = LevenbergMarquardtParams.CeresDefaults() params.setOrdering(self.ordering) @@ -104,5 +172,6 @@ class TestScenario(GtsamTestCase): self.assertEqual(self.fg.error(actual), final_error) self.assertEqual(optimizer.iterations(), iteration_count) + if __name__ == "__main__": unittest.main() diff --git a/tests/testGncOptimizer.cpp b/tests/testGncOptimizer.cpp index c3335ce20..15d660114 100644 --- a/tests/testGncOptimizer.cpp +++ b/tests/testGncOptimizer.cpp @@ -567,7 +567,7 @@ TEST(GncOptimizer, optimizeWithKnownInliers) { Values initial; initial.insert(X(1), p0); - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(0); knownInliers.push_back(1); knownInliers.push_back(2); @@ -644,7 +644,7 @@ TEST(GncOptimizer, barcsq) { Values initial; initial.insert(X(1), p0); - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(0); knownInliers.push_back(1); knownInliers.push_back(2); @@ -691,7 +691,7 @@ TEST(GncOptimizer, setInlierCostThresholds) { Values initial; initial.insert(X(1), p0); - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(0); knownInliers.push_back(1); knownInliers.push_back(2); @@ -763,7 +763,7 @@ TEST(GncOptimizer, optimizeSmallPoseGraph) { // GNC // Note: in difficult instances, we set the odometry measurements to be // inliers, but this problem is simple enought to succeed even without that - // assumption std::vector knownInliers; + // assumption GncParams::IndexVector knownInliers; GncParams gncParams; auto gnc = GncOptimizer>(*graph, *initial, gncParams); @@ -784,12 +784,12 @@ TEST(GncOptimizer, knownInliersAndOutliers) { // nonconvexity with known inliers and known outliers (check early stopping // when all measurements are known to be inliers or outliers) { - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(0); knownInliers.push_back(1); knownInliers.push_back(2); - std::vector knownOutliers; + GncParams::IndexVector knownOutliers; knownOutliers.push_back(3); GncParams gncParams; @@ -813,11 +813,11 @@ TEST(GncOptimizer, knownInliersAndOutliers) { // nonconvexity with known inliers and known outliers { - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(2); knownInliers.push_back(0); - std::vector knownOutliers; + GncParams::IndexVector knownOutliers; knownOutliers.push_back(3); GncParams gncParams; @@ -841,7 +841,7 @@ TEST(GncOptimizer, knownInliersAndOutliers) { // only known outliers { - std::vector knownOutliers; + GncParams::IndexVector knownOutliers; knownOutliers.push_back(3); GncParams gncParams; @@ -916,11 +916,11 @@ TEST(GncOptimizer, setWeights) { // initialize weights and also set known inliers/outliers { GncParams gncParams; - std::vector knownInliers; + GncParams::IndexVector knownInliers; knownInliers.push_back(2); knownInliers.push_back(0); - std::vector knownOutliers; + GncParams::IndexVector knownOutliers; knownOutliers.push_back(3); gncParams.setKnownInliers(knownInliers); gncParams.setKnownOutliers(knownOutliers);