From d0724a77bb30f3c4092a33b4a36b65a2d4da46f0 Mon Sep 17 00:00:00 2001
From: Fan Jiang <ProfFan@users.noreply.github.com>
Date: Wed, 29 Apr 2020 13:49:52 -0400
Subject: [PATCH 01/29] Backport GitHub Actions CI (#259)

* Add GitHub Actions
* Add Windows Check
* Fix wrong os selection
* Add XCode version
* Upgrade GCC Version
* Make GCC match Ubuntu name
* Do not fail everyone when one failed
* More checks on ccache
* Do not expose GenericValue on Windows
* Fix BetweenFactor for Windows
* Update
* Add Python CI
* Typo
* Add note about GENERICVALUE_VISIBILITY
* Fix Windows Boost
* Change substitution scheme to PowerShell
* Fix the spurious error of the Point3 default constructor
* Separate builds to allow easier restarts
* Fix uninitialized variable usage
* Change of policy, only build python stuff, mac and win on PRs
* Further separate the Python tests
---
 .github/workflows/build-cython.yml          | 96 +++++++++++++++++++++
 .github/workflows/build-linux.yml           | 71 +++++++++++++++
 .github/workflows/build-macos.yml           | 51 +++++++++++
 .github/workflows/build-python.yml          | 96 +++++++++++++++++++++
 .github/workflows/build-windows.yml         | 75 ++++++++++++++++
 .travis.sh                                  |  2 +-
 cython/gtsam/utils/visual_data_generator.py | 14 +--
 gtsam/base/GenericValue.h                   |  8 ++
 gtsam/slam/BetweenFactor.h                  |  8 ++
 9 files changed, 413 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/build-cython.yml
 create mode 100644 .github/workflows/build-linux.yml
 create mode 100644 .github/workflows/build-macos.yml
 create mode 100644 .github/workflows/build-python.yml
 create mode 100644 .github/workflows/build-windows.yml

diff --git a/.github/workflows/build-cython.yml b/.github/workflows/build-cython.yml
new file mode 100644
index 000000000..c159a60fc
--- /dev/null
+++ b/.github/workflows/build-cython.yml
@@ -0,0 +1,96 @@
+name: Cython CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [cython]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+          
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.python.sh
\ No newline at end of file
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
new file mode 100644
index 000000000..f58fe5f37
--- /dev/null
+++ b/.github/workflows/build-linux.yml
@@ -0,0 +1,71 @@
+name: CI Linux
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.sh -t
\ No newline at end of file
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
new file mode 100644
index 000000000..2ab2e63c5
--- /dev/null
+++ b/.github/workflows/build-macos.yml
@@ -0,0 +1,51 @@
+name: CI macOS
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.sh -t
\ No newline at end of file
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
new file mode 100644
index 000000000..2dc98f05d
--- /dev/null
+++ b/.github/workflows/build-python.yml
@@ -0,0 +1,96 @@
+name: Python CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [pybind]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          sudo apt-get -y upgrade
+          
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .travis.python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .travis.python.sh
\ No newline at end of file
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
new file mode 100644
index 000000000..516e67e1d
--- /dev/null
+++ b/.github/workflows/build-windows.yml
@@ -0,0 +1,75 @@
+name: CI Windows
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          windows-2016-cl,
+          windows-2019-cl,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON, OFF]
+        include:
+          - name: windows-2016-cl
+            os: windows-2016
+            compiler: cl
+
+          - name: windows-2019-cl
+            os: windows-2019
+            compiler: cl
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install ninja --global
+          if ("${{ matrix.compiler }}".StartsWith("clang")) {
+            scoop install llvm --global
+          }
+          if ("${{ matrix.compiler }}" -eq "gcc") {
+            # Chocolatey GCC is broken on the windows-2019 image.
+            # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
+            # See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
+            scoop install gcc --global
+            echo "::set-env name=CC::gcc"
+            echo "::set-env name=CXX::g++"
+          } elseif ("${{ matrix.compiler }}" -eq "clang") {
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          } else {
+            echo "::set-env name=CC::${{ matrix.compiler }}"
+            echo "::set-env name=CXX::${{ matrix.compiler }}"
+          }
+          # Scoop modifies the PATH so we make the modified PATH global.
+          echo "::set-env name=PATH::$env:PATH"
+      - name: Build (Windows)
+        if: runner.os == 'Windows'
+        run: |
+          cmake -E remove_directory build
+          echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
+          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target wrap
+          cmake --build build --config ${{ matrix.build_type }} --target check.base
+          cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target check.linear
\ No newline at end of file
diff --git a/.travis.sh b/.travis.sh
index 7777e9919..35b964222 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -71,7 +71,7 @@ function configure()
 function finish ()
 {
   # Print ccache stats
-  ccache -s
+  [ -x "$(command -v ccache)" ] && ccache -s
 
   cd $SOURCE_DIR
 }
diff --git a/cython/gtsam/utils/visual_data_generator.py b/cython/gtsam/utils/visual_data_generator.py
index f04588e70..5ce72fe68 100644
--- a/cython/gtsam/utils/visual_data_generator.py
+++ b/cython/gtsam/utils/visual_data_generator.py
@@ -30,8 +30,8 @@ class GroundTruth:
 
     def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4):
         self.K = K
-        self.cameras = [Pose3()] * nrCameras
-        self.points = [Point3()] * nrPoints
+        self.cameras = [gtsam.Pose3()] * nrCameras
+        self.points = [gtsam.Point3(0, 0, 0)] * nrPoints
 
     def print_(self, s=""):
         print(s)
@@ -99,11 +99,11 @@ def generate_data(options):
     r = 40
     for i in range(options.nrCameras):
         theta = i * 2 * np.pi / options.nrCameras
-        t = Point3(r * np.cos(theta), r * np.sin(theta), height)
-        truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
-                                                       Point3(),
-                                                       Point3(0, 0, 1),
-                                                       truth.K)
+        t = gtsam.Point3(r * np.cos(theta), r * np.sin(theta), height)
+        truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
+                                                     gtsam.Point3(0, 0, 0),
+                                                     gtsam.Point3(0, 0, 1),
+                                                     truth.K)
         # Create measurements
         for j in range(nrPoints):
             # All landmarks seen in every frame
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index dc205b47f..0e928765f 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -30,6 +30,14 @@
 #include <iostream>
 #include <typeinfo> // operator typeid
 
+#ifdef _WIN32
+#define GENERICVALUE_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define GENERICVALUE_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {
 
 /**
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 9afc2f72b..a594e95d5 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -21,6 +21,14 @@
 #include <gtsam/base/Lie.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
+#ifdef _WIN32
+#define BETWEENFACTOR_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define BETWEENFACTOR_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {
 
   /**

From 10754080fc34220503ae66f23bf3268a84c35322 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Fri, 14 Aug 2020 10:03:40 -0400
Subject: [PATCH 02/29] Remove travis and appveyor

---
 .travis.yml  | 140 ---------------------------------------------------
 appveyor.yml |  33 ------------
 2 files changed, 173 deletions(-)
 delete mode 100644 .travis.yml
 delete mode 100644 appveyor.yml

diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 986e86cc2..000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,140 +0,0 @@
-language: cpp
-cache: ccache
-dist: xenial
-
-addons:
-  apt:
-    sources:
-    - ubuntu-toolchain-r-test
-    - sourceline: 'deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-9 main'
-      key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key'
-    packages:
-    - g++-9
-    - clang-9
-    - build-essential pkg-config
-    - cmake
-    - python3-dev libpython-dev
-    - python3-numpy
-    - libboost-all-dev
-
-# before_install:
-  # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
-
-install:
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
-
-# We first do the compile stage specified below, then the matrix expansion specified after.
-stages:
-  - compile
-  - test
-  - special
-
-env:
-  global:
-    - MAKEFLAGS="-j3"
-    - CCACHE_SLOPPINESS=pch_defines,time_macros
-
-# Compile stage without building examples/tests to populate the caches.
-jobs:
-# -------- STAGE 1: COMPILE -----------
-  include:
-# on Mac, GCC
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Mac, CLANG
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, GCC
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, CLANG
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, with deprecated ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
-    script: bash .travis.sh -b
-# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
-  # - stage: special
-  #   os: linux
-  #   compiler: gcc
-  #   env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
-  #   script: bash .travis.sh -t
-# -------- STAGE 2: TESTS -----------
-# on Mac, GCC
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-# on Linux, with quaternions ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON
-    script: bash .travis.sh -t
-  - stage: special
-    os: linux
-    compiler: gcc
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
-  - stage: special
-    os: osx
-    compiler: clang
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
diff --git a/appveyor.yml b/appveyor.yml
deleted file mode 100644
index 3747354cf..000000000
--- a/appveyor.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-# version format
-version: 4.0.3-{branch}-build{build}
-
-os: Visual Studio 2019
-
-clone_folder: c:\projects\gtsam
-
-platform: x64
-configuration: Release
-
-environment:
-  CTEST_OUTPUT_ON_FAILURE: 1
-  BOOST_ROOT: C:/Libraries/boost_1_71_0
-
-build_script:
-  - cd c:\projects\gtsam\build
-  # As of Dec 2019, not all unit tests build cleanly for MSVC, so we'll just
-  # check that parts of GTSAM build correctly:
-  #- cmake --build .
-  - cmake --build . --config Release --target gtsam
-  - cmake --build . --config Release --target gtsam_unstable
-  - cmake --build . --config Release --target wrap
-  #- cmake --build . --target check
-  - cmake --build . --config Release --target check.base
-  - cmake --build . --config Release --target check.base_unstable
-  - cmake --build . --config Release --target check.linear
-
-before_build:
-  - cd c:\projects\gtsam
-  - mkdir build
-  - cd build
-  # Disable examples to avoid AppVeyor timeout
-  - cmake -G "Visual Studio 16 2019"  .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF

From d43d8b7c6959ddd3e4232110a7beb4acbaedfc9e Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Fri, 14 Aug 2020 10:03:56 -0400
Subject: [PATCH 03/29] Limit python triggering

---
 .github/workflows/trigger-python.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/trigger-python.yml b/.github/workflows/trigger-python.yml
index 8fad9e7ca..94527e732 100644
--- a/.github/workflows/trigger-python.yml
+++ b/.github/workflows/trigger-python.yml
@@ -1,6 +1,9 @@
 # This triggers Cython builds on `gtsam-manylinux-build`
 name: Trigger Python Builds
-on: push
+on:
+  push:
+    branches:
+      - develop
 jobs:
   triggerCython:
     runs-on: ubuntu-latest

From 96169665b0644c64bd62e88cb3f35bdb74709934 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Fri, 14 Aug 2020 10:06:00 -0400
Subject: [PATCH 04/29] Remove pybind build

---
 .github/workflows/build-python.yml | 96 ------------------------------
 1 file changed, 96 deletions(-)
 delete mode 100644 .github/workflows/build-python.yml

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
deleted file mode 100644
index 2dc98f05d..000000000
--- a/.github/workflows/build-python.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Python CI
-
-on: [pull_request]
-
-jobs:
-  build:
-    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
-    runs-on: ${{ matrix.os }}
-
-    env:
-      CTEST_OUTPUT_ON_FAILURE: ON
-      CTEST_PARALLEL_LEVEL: 2
-      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
-      PYTHON_VERSION: ${{ matrix.python_version }}
-      WRAPPER: ${{ matrix.wrapper }}
-    strategy:
-      fail-fast: false
-      matrix:
-        # Github Actions requires a single row to be added to the build matrix.
-        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-          ubuntu-18.04-gcc-5,
-          ubuntu-18.04-gcc-9,
-          ubuntu-18.04-clang-9,
-          macOS-10.15-xcode-11.3.1,
-        ]
-
-        build_type: [Debug, Release]
-        python_version: [3]
-        wrapper: [pybind]
-        include:
-          - name: ubuntu-18.04-gcc-5
-            os: ubuntu-18.04
-            compiler: gcc
-            version: "5"
-
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
-            compiler: gcc
-            version: "9"
-
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
-            compiler: clang
-            version: "9"
-
-          - name: macOS-10.15-xcode-11.3.1
-            os: macOS-10.15
-            compiler: xcode
-            version: "11.3.1"
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@master
-      - name: Install (Linux)
-        if: runner.os == 'Linux'
-        run: |
-          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
-          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
-            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
-          fi
-          sudo apt-get -y update
-          sudo apt-get -y upgrade
-          
-          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
-          
-          if [ "${{ matrix.compiler }}" = "gcc" ]; then
-            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
-            echo "::set-env name=CC::gcc-${{ matrix.version }}"
-            echo "::set-env name=CXX::g++-${{ matrix.version }}"
-          else
-            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
-            echo "::set-env name=CC::clang-${{ matrix.version }}"
-            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
-          fi
-      - name: Install (macOS)
-        if: runner.os == 'macOS'
-        run: |
-          brew install cmake ninja boost
-          if [ "${{ matrix.compiler }}" = "gcc" ]; then
-            brew install gcc@${{ matrix.version }}
-            echo "::set-env name=CC::gcc-${{ matrix.version }}"
-            echo "::set-env name=CXX::g++-${{ matrix.version }}"
-          else
-            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
-            echo "::set-env name=CC::clang"
-            echo "::set-env name=CXX::clang++"
-          fi
-      - name: Build (Linux)
-        if: runner.os == 'Linux'
-        run: |
-          bash .travis.python.sh
-      - name: Build (macOS)
-        if: runner.os == 'macOS'
-        run: |
-          bash .travis.python.sh
\ No newline at end of file

From a5b722d237c58c2354c081de169b7345b2a48b09 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Fri, 14 Aug 2020 10:48:17 -0400
Subject: [PATCH 05/29] Correct .travis.sh

---
 .travis.python.sh | 60 ++++++++++++++++++++++++++++++++++++++---------
 .travis.sh        | 16 ++++++-------
 2 files changed, 57 insertions(+), 19 deletions(-)

diff --git a/.travis.python.sh b/.travis.python.sh
index 99506e749..7ccf56dd1 100644
--- a/.travis.python.sh
+++ b/.travis.python.sh
@@ -6,6 +6,11 @@ if [ -z ${PYTHON_VERSION+x} ]; then
     exit 127
 fi
 
+if [ -z ${WRAPPER+x} ]; then
+    echo "Please provide the wrapper to build!"
+    exit 126
+fi
+
 PYTHON="python${PYTHON_VERSION}"
 
 if [[ $(uname) == "Darwin" ]]; then
@@ -15,9 +20,29 @@ else
     sudo apt-get install wget libicu-dev python3-pip python3-setuptools
 fi
 
-CURRDIR=$(pwd)
+PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
-sudo $PYTHON -m pip install -r ./cython/requirements.txt
+case $WRAPPER in
+"cython")
+    BUILD_CYTHON="ON"
+    BUILD_PYBIND="OFF"
+    TYPEDEF_POINTS_TO_VECTORS="OFF"
+
+    $PYTHON -m pip install --user -r ./cython/requirements.txt
+    ;;
+"pybind")
+    BUILD_CYTHON="OFF"
+    BUILD_PYBIND="ON"
+    TYPEDEF_POINTS_TO_VECTORS="ON"
+
+    $PYTHON -m pip install --user -r ./wrap/python/requirements.txt
+    ;;
+*)
+    exit 126
+    ;;
+esac
+
+CURRDIR=$(pwd)
 
 mkdir $CURRDIR/build
 cd $CURRDIR/build
@@ -27,17 +52,30 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
     -DGTSAM_USE_QUATERNIONS=OFF \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-    -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
+    -DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \
+    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+    -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
     -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
 
 make -j$(nproc) install
 
-cd cython
-
-sudo $PYTHON setup.py install
-
-cd $CURRDIR/cython/gtsam/tests
-
-$PYTHON -m unittest discover
\ No newline at end of file
+case $WRAPPER in
+"cython")
+    cd $CURRDIR/../gtsam_install/cython
+    $PYTHON setup.py install --user --prefix=
+    cd $CURRDIR/cython/gtsam/tests
+    $PYTHON -m unittest discover
+    ;;
+"pybind")
+    $PYTHON setup.py install --user --prefix=
+    cd $CURRDIR/wrap/python/gtsam_py/tests
+    $PYTHON -m unittest discover
+    ;;
+*)
+    echo "THIS SHOULD NEVER HAPPEN!"
+    exit 125
+    ;;
+esac
diff --git a/.travis.sh b/.travis.sh
index 35b964222..422f68065 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -4,17 +4,17 @@
 function install_tbb()
 {
   TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.2
-  TBB_DIR=tbb44_20151115oss
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
   TBB_SAVEPATH="/tmp/tbb.tgz"
 
-  if [ "$TRAVIS_OS_NAME" == "linux" ]; then
+  if [ "$(uname)" == "Linux" ]; then
     OS_SHORT="lin"
     TBB_LIB_DIR="intel64/gcc4.4"
     SUDO="sudo"
 
-  elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
-    OS_SHORT="lin"
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
     TBB_LIB_DIR=""
     SUDO=""
 
@@ -46,7 +46,7 @@ function configure()
   rm -fr $BUILD_DIR || true
   mkdir $BUILD_DIR && cd $BUILD_DIR
 
-  install_tbb
+  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
 
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
@@ -61,9 +61,9 @@ function configure()
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=OFF
+      -DCMAKE_VERBOSE_MAKEFILE=ON
 }
 
 

From bb0de4f63b3aac40dd419f0c39c1b48cbf9ecc10 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 11:51:56 -0400
Subject: [PATCH 06/29] switch to boost 1.69.0

---
 .github/workflows/build-linux.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index f58fe5f37..eab879e2e 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -54,7 +54,7 @@ jobs:
           sudo apt-get -y update
           sudo apt-get -y upgrade
 
-          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@@ -64,6 +64,8 @@ jobs:
             sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
             echo "::set-env name=CC::clang-${{ matrix.version }}"
             echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+            echo "::set-env name=BOOST_ROOT:$BOOST_ROOT_1_69_0"
+            echo "BOOST_ROOT env set to $BOOST_ROOT"
           fi
       - name: Build (Linux)
         if: runner.os == 'Linux'

From b3caa6de8363605dee4caf34dc7b54a392161b12 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 12:06:07 -0400
Subject: [PATCH 07/29] typo

---
 .github/workflows/build-linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index eab879e2e..fbf7d7cd1 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -64,7 +64,7 @@ jobs:
             sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
             echo "::set-env name=CC::clang-${{ matrix.version }}"
             echo "::set-env name=CXX::clang++-${{ matrix.version }}"
-            echo "::set-env name=BOOST_ROOT:$BOOST_ROOT_1_69_0"
+            echo "::set-env name=BOOST_ROOT::$BOOST_ROOT_1_69_0"
             echo "BOOST_ROOT env set to $BOOST_ROOT"
           fi
       - name: Build (Linux)

From 288195ba169456d9f5e89525f2554475b3cde231 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 12:54:31 -0400
Subject: [PATCH 08/29] Add a display for current boost version

---
 .github/workflows/build-linux.yml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index fbf7d7cd1..837d0b174 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -56,6 +56,8 @@ jobs:
 
           sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy
           
+          echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
+          
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
             echo "::set-env name=CC::gcc-${{ matrix.version }}"
@@ -64,9 +66,11 @@ jobs:
             sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
             echo "::set-env name=CC::clang-${{ matrix.version }}"
             echo "::set-env name=CXX::clang++-${{ matrix.version }}"
-            echo "::set-env name=BOOST_ROOT::$BOOST_ROOT_1_69_0"
-            echo "BOOST_ROOT env set to $BOOST_ROOT"
           fi
+      - name: Check Boost version
+        if: runner.os == 'Linux'
+        run: |
+          echo "BOOST_ROOT = $BOOST_ROOT"
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |

From b9f4f28e1aec4b4e1659785def4cbb7d7e931f86 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 13:05:53 -0400
Subject: [PATCH 09/29] Manually specify BOOST_ROOT

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

diff --git a/.travis.sh b/.travis.sh
index 422f68065..c2b4e0590 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -64,6 +64,7 @@ function configure()
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DCMAKE_VERBOSE_MAKEFILE=ON
+      -DBOOST_ROOT=$BOOST_ROOT
 }
 
 

From bfae5561684de0a8c63ff56499f61e5fa868b237 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 13:33:00 -0400
Subject: [PATCH 10/29] typo

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

diff --git a/.travis.sh b/.travis.sh
index c2b4e0590..7f5a58d0e 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -63,7 +63,7 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=ON
+      -DCMAKE_VERBOSE_MAKEFILE=ON \
       -DBOOST_ROOT=$BOOST_ROOT
 }
 

From 2d7fb05f6cf2bd944aee8afb8a067fcfb3af7caf Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 13:54:02 -0400
Subject: [PATCH 11/29] Ignore system boost

---
 .travis.sh | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.travis.sh b/.travis.sh
index 7f5a58d0e..c4ac675bd 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -64,7 +64,10 @@ function configure()
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DCMAKE_VERBOSE_MAKEFILE=ON \
-      -DBOOST_ROOT=$BOOST_ROOT
+      -DBOOST_ROOT=$BOOST_ROOT \
+      -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBOOST_INCLUDEDIR="$BOOST_ROOT/boost/include" \
+      -DBOOST_LIBRARYDIR="$BOOST_ROOT/lib"
 }
 
 

From ae341c83a46508c92f24f0dcba6a798713df2d7b Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 14:13:07 -0400
Subject: [PATCH 12/29] Fix wrong include path

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

diff --git a/.travis.sh b/.travis.sh
index c4ac675bd..6aa4c6da6 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -66,7 +66,7 @@ function configure()
       -DCMAKE_VERBOSE_MAKEFILE=ON \
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \
-      -DBOOST_INCLUDEDIR="$BOOST_ROOT/boost/include" \
+      -DBOOST_INCLUDEDIR="$BOOST_ROOT/include" \
       -DBOOST_LIBRARYDIR="$BOOST_ROOT/lib"
 }
 

From 799486b2f3d761e2cb991d377de5cb622f728f0d Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 14:45:58 -0400
Subject: [PATCH 13/29] Do not search for the cmake boost file

---
 .travis.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.travis.sh b/.travis.sh
index 6aa4c6da6..eae460b2d 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -67,7 +67,8 @@ function configure()
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \
       -DBOOST_INCLUDEDIR="$BOOST_ROOT/include" \
-      -DBOOST_LIBRARYDIR="$BOOST_ROOT/lib"
+      -DBOOST_LIBRARYDIR="$BOOST_ROOT/lib" \
+      -DBoost_NO_BOOST_CMAKE=ON
 }
 
 

From 7f7bf563f693f082a0d19ef7b6116ffd1084f97d Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 15 Aug 2020 15:28:56 -0400
Subject: [PATCH 14/29] Real reason why cannot find boost

---
 .travis.sh | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.travis.sh b/.travis.sh
index eae460b2d..30713cac2 100755
--- a/.travis.sh
+++ b/.travis.sh
@@ -66,9 +66,7 @@ function configure()
       -DCMAKE_VERBOSE_MAKEFILE=ON \
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \
-      -DBOOST_INCLUDEDIR="$BOOST_ROOT/include" \
-      -DBOOST_LIBRARYDIR="$BOOST_ROOT/lib" \
-      -DBoost_NO_BOOST_CMAKE=ON
+      -DBoost_ARCHITECTURE=-x64
 }
 
 

From 635c6f89b05105a1160d81bb736e39218fbb3ee4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 15:44:22 -0500
Subject: [PATCH 15/29] renamed from build-cython to build-python

---
 .github/workflows/{build-cython.yml => build-python.yml} | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename .github/workflows/{build-cython.yml => build-python.yml} (98%)

diff --git a/.github/workflows/build-cython.yml b/.github/workflows/build-python.yml
similarity index 98%
rename from .github/workflows/build-cython.yml
rename to .github/workflows/build-python.yml
index c159a60fc..497272411 100644
--- a/.github/workflows/build-cython.yml
+++ b/.github/workflows/build-python.yml
@@ -1,4 +1,4 @@
-name: Cython CI
+name: Python CI
 
 on: [pull_request]
 

From d9f5c1ebb7556da6b6ef8d0c40952a4b47207504 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 15:50:10 -0500
Subject: [PATCH 16/29] remove travis.python.sh and instead add script in
 .github folder

---
 .../scripts/python.sh                         | 36 +++++++++++--------
 1 file changed, 22 insertions(+), 14 deletions(-)
 rename .travis.python.sh => .github/scripts/python.sh (63%)

diff --git a/.travis.python.sh b/.github/scripts/python.sh
similarity index 63%
rename from .travis.python.sh
rename to .github/scripts/python.sh
index 7ccf56dd1..70a5f46e4 100644
--- a/.travis.python.sh
+++ b/.github/scripts/python.sh
@@ -17,7 +17,7 @@ if [[ $(uname) == "Darwin" ]]; then
     brew install wget
 else
     # Install a system package required by our library
-    sudo apt-get install wget libicu-dev python3-pip python3-setuptools
+    sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
 fi
 
 PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
@@ -28,26 +28,26 @@ case $WRAPPER in
     BUILD_PYBIND="OFF"
     TYPEDEF_POINTS_TO_VECTORS="OFF"
 
-    $PYTHON -m pip install --user -r ./cython/requirements.txt
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/cython/requirements.txt
     ;;
 "pybind")
     BUILD_CYTHON="OFF"
     BUILD_PYBIND="ON"
     TYPEDEF_POINTS_TO_VECTORS="ON"
 
-    $PYTHON -m pip install --user -r ./wrap/python/requirements.txt
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
     ;;
 *)
     exit 126
     ;;
 esac
 
-CURRDIR=$(pwd)
+git submodule update --init --recursive
 
-mkdir $CURRDIR/build
-cd $CURRDIR/build
+mkdir $GITHUB_WORKSPACE/build
+cd $GITHUB_WORKSPACE/build
 
-cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
+cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
     -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
     -DGTSAM_USE_QUATERNIONS=OFF \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
@@ -56,26 +56,34 @@ cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
     -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
     -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF \
     -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-    -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
+    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
-make -j$(nproc) install
+make -j$(nproc) install &
+
+while ps -p $! > /dev/null
+do
+  sleep 60
+  now=$(date +%s)
+  printf "%d seconds have elapsed\n" $(( (now - start) ))
+done
 
 case $WRAPPER in
 "cython")
-    cd $CURRDIR/../gtsam_install/cython
+    cd $GITHUB_WORKSPACE/gtsam_install/cython
     $PYTHON setup.py install --user --prefix=
-    cd $CURRDIR/cython/gtsam/tests
+    cd $GITHUB_WORKSPACE/gtsam_install/cython/gtsam/tests
     $PYTHON -m unittest discover
     ;;
 "pybind")
+    cd python
     $PYTHON setup.py install --user --prefix=
-    cd $CURRDIR/wrap/python/gtsam_py/tests
+    cd $GITHUB_WORKSPACE/wrap/python/gtsam_py/tests
     $PYTHON -m unittest discover
     ;;
 *)
     echo "THIS SHOULD NEVER HAPPEN!"
     exit 125
     ;;
-esac
+esac
\ No newline at end of file

From 0172cd3c8c7348abca9cc42b5d77da3da38adf34 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 15:50:59 -0500
Subject: [PATCH 17/29] updates to python CI yml file

---
 .github/workflows/build-python.yml  | 7 +++----
 .github/workflows/build-windows.yml | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 497272411..9edd1c24d 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -60,9 +60,8 @@ jobs:
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
           sudo apt-get -y update
-          sudo apt-get -y upgrade
           
-          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@@ -89,8 +88,8 @@ jobs:
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |
-          bash .travis.python.sh
+          bash .github/scripts/python.sh
       - name: Build (macOS)
         if: runner.os == 'macOS'
         run: |
-          bash .travis.python.sh
\ No newline at end of file
+          bash .github/scripts/python.sh
\ No newline at end of file
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 516e67e1d..f7c5dbcce 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -1,4 +1,4 @@
-name: CI Windows
+name: Windows CI
 
 on: [pull_request]
 

From 808c043e733f1691bf0b09336434649497868cdd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 16:01:24 -0500
Subject: [PATCH 18/29] moved CI script for unix based systems

---
 .travis.sh => .github/scripts/unix.sh | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)
 rename .travis.sh => .github/scripts/unix.sh (92%)
 mode change 100755 => 100644

diff --git a/.travis.sh b/.github/scripts/unix.sh
old mode 100755
new mode 100644
similarity index 92%
rename from .travis.sh
rename to .github/scripts/unix.sh
index 30713cac2..4f6d926fb
--- a/.travis.sh
+++ b/.github/scripts/unix.sh
@@ -25,7 +25,7 @@ function install_tbb()
 
   TBBROOT=/tmp/$TBB_DIR
   # Copy the needed files to the correct places.
-  # This works correctly for travis builds, instead of setting path variables.
+  # This works correctly for CI builds, instead of setting path variables.
   # This is what Homebrew does to install TBB on Macs
   $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
   $SUDO cp -R $TBBROOT/include/ /usr/local/include/
@@ -38,11 +38,11 @@ function configure()
   set -e   # Make sure any error makes the script to return an error code
   set -x   # echo
 
-  SOURCE_DIR=`pwd`
-  BUILD_DIR=build
+  SOURCE_DIR=$GITHUB_WORKSPACE
+  BUILD_DIR=$GITHUB_WORKSPACE/build
 
   #env
-  git clean -fd || true
+  git submodule update --init --recursive
   rm -fr $BUILD_DIR || true
   mkdir $BUILD_DIR && cd $BUILD_DIR
 
@@ -61,7 +61,7 @@ function configure()
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DCMAKE_VERBOSE_MAKEFILE=ON \
       -DBOOST_ROOT=$BOOST_ROOT \
@@ -114,4 +114,4 @@ case $1 in
   -t)
     test
     ;;
-esac
+esac
\ No newline at end of file

From 1e3ca015f0e7822e8c3c417a71651f04c204df93 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 16:01:40 -0500
Subject: [PATCH 19/29] updates to macOS and Linux CIs

---
 .github/workflows/build-linux.yml | 5 ++---
 .github/workflows/build-macos.yml | 4 ++--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 837d0b174..0ab87cbeb 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -52,9 +52,8 @@ jobs:
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
           sudo apt-get -y update
-          sudo apt-get -y upgrade
 
-          sudo apt install cmake g++-9 clang-9 build-essential pkg-config libpython-dev python-numpy
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
           
           echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
           
@@ -74,4 +73,4 @@ jobs:
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |
-          bash .travis.sh -t
\ No newline at end of file
+          bash .github/scripts/nix.sh -t
\ No newline at end of file
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 2ab2e63c5..2feb02eb5 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -1,4 +1,4 @@
-name: CI macOS
+name: macOS CI
 
 on: [pull_request]
 
@@ -48,4 +48,4 @@ jobs:
       - name: Build (macOS)
         if: runner.os == 'macOS'
         run: |
-          bash .travis.sh -t
\ No newline at end of file
+          bash .github/scripts/nix.sh -t
\ No newline at end of file

From de2344fc2e97d87808365bdf3091953f33cf5f69 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 16:03:44 -0500
Subject: [PATCH 20/29] fix script name

---
 .github/workflows/build-linux.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 0ab87cbeb..5b02cb254 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -1,4 +1,4 @@
-name: CI Linux
+name: Linux CI
 
 on: [push, pull_request]
 
@@ -73,4 +73,4 @@ jobs:
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |
-          bash .github/scripts/nix.sh -t
\ No newline at end of file
+          bash .github/scripts/unix.sh -t
\ No newline at end of file

From 7f0767e85fb149f14dc7f42d2b3e9cc391737838 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 16:22:01 -0500
Subject: [PATCH 21/29] fix cython path

---
 .github/scripts/python.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 70a5f46e4..4321f4c64 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -71,9 +71,9 @@ done
 
 case $WRAPPER in
 "cython")
-    cd $GITHUB_WORKSPACE/gtsam_install/cython
+    cd $GITHUB_WORKSPACE/build/cython
     $PYTHON setup.py install --user --prefix=
-    cd $GITHUB_WORKSPACE/gtsam_install/cython/gtsam/tests
+    cd $GITHUB_WORKSPACE/build/cython/gtsam/tests
     $PYTHON -m unittest discover
     ;;
 "pybind")

From ba6b18947dfeda49071b7489424a62424f1c7b9d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 18:45:18 -0500
Subject: [PATCH 22/29] fix build script

---
 .github/workflows/build-macos.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 2feb02eb5..1304d863e 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -48,4 +48,4 @@ jobs:
       - name: Build (macOS)
         if: runner.os == 'macOS'
         run: |
-          bash .github/scripts/nix.sh -t
\ No newline at end of file
+          bash .github/scripts/unix.sh -t
\ No newline at end of file

From e04ef8494863143cce6d0d9f90ff5b70802b88ab Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 18:45:31 -0500
Subject: [PATCH 23/29] set LD_LIBRARY_PATH

---
 .github/workflows/build-linux.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 5b02cb254..267d995f8 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -12,6 +12,8 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+      LD_LIBRARY_PATH: /usr/local/lib
+
     strategy:
       fail-fast: false
       matrix:

From 5315e3ed35b819c30c8367d5fbba40f8f569a5ae Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 19:26:36 -0500
Subject: [PATCH 24/29] test LD_LIBRARY_PATH

---
 .github/workflows/build-linux.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 267d995f8..bbdc22202 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -72,6 +72,8 @@ jobs:
         if: runner.os == 'Linux'
         run: |
           echo "BOOST_ROOT = $BOOST_ROOT"
+          echo "LD_LIBRARY_PATH = $LD_LIBRARY_PATH"
+          ls $LD_LIBRARY_PATH
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |

From 51b201988f77ac68ee943dbc0f187471779ea3b5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 20:20:31 -0500
Subject: [PATCH 25/29] correctly add LD_LIBRARY_PATH boost lib directory

---
 .github/workflows/build-linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index bbdc22202..24a1a2c96 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -12,7 +12,6 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
-      LD_LIBRARY_PATH: /usr/local/lib
 
     strategy:
       fail-fast: false
@@ -58,6 +57,7 @@ jobs:
           sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
           
           echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
+          echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)"
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib

From b23dd711b077529f969a10145e7c573b21566e67 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Aug 2020 23:40:43 -0500
Subject: [PATCH 26/29] remove unnecessary prints

---
 .github/workflows/build-linux.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 24a1a2c96..4fac0f7cc 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -72,8 +72,6 @@ jobs:
         if: runner.os == 'Linux'
         run: |
           echo "BOOST_ROOT = $BOOST_ROOT"
-          echo "LD_LIBRARY_PATH = $LD_LIBRARY_PATH"
-          ls $LD_LIBRARY_PATH
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |

From a2e748130085afa30f51c1e4c00ee9f216402dc3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 16 Aug 2020 08:31:44 -0500
Subject: [PATCH 27/29] add description for CI scripts

---
 .github/scripts/python.sh | 7 ++++++-
 .github/scripts/unix.sh   | 5 +++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 4321f4c64..5cc6ada24 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -1,4 +1,9 @@
 #!/bin/bash
+
+##########################################################
+# Build and test the GTSAM Python wrapper.
+##########################################################
+
 set -x -e
 
 if [ -z ${PYTHON_VERSION+x} ]; then
@@ -77,7 +82,7 @@ case $WRAPPER in
     $PYTHON -m unittest discover
     ;;
 "pybind")
-    cd python
+    cd $GITHUB_WORKSPACE/python
     $PYTHON setup.py install --user --prefix=
     cd $GITHUB_WORKSPACE/wrap/python/gtsam_py/tests
     $PYTHON -m unittest discover
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 4f6d926fb..aa6e49650 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -1,5 +1,10 @@
 #!/bin/bash
 
+##########################################################
+# Build and test GTSAM for *nix based systems.
+# Specifically Linux and macOS.
+##########################################################
+
 # install TBB with _debug.so files
 function install_tbb()
 {

From 0d5ee3fbc6d6848884aaa83a9339973aca8b8adc Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sun, 16 Aug 2020 19:50:01 -0400
Subject: [PATCH 28/29] Always build unstable

---
 .github/workflows/build-linux.yml   | 4 ++--
 .github/workflows/build-macos.yml   | 4 ++--
 .github/workflows/build-windows.yml | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 4fac0f7cc..911bec59c 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -4,7 +4,7 @@ on: [push, pull_request]
 
 jobs:
   build:
-    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
 
     env:
@@ -25,7 +25,7 @@ jobs:
         ]
 
         build_type: [Debug, Release]
-        build_unstable: [ON, OFF]
+        build_unstable: [ON]
         include:
           - name: ubuntu-18.04-gcc-5
             os: ubuntu-18.04
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 1304d863e..55d9071ef 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -4,7 +4,7 @@ on: [pull_request]
 
 jobs:
   build:
-    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
 
     env:
@@ -22,7 +22,7 @@ jobs:
         ]
 
         build_type: [Debug, Release]
-        build_unstable: [ON, OFF]
+        build_unstable: [ON]
         include:
           - name: macOS-10.15-xcode-11.3.1
             os: macOS-10.15
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index f7c5dbcce..b3150a751 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -4,7 +4,7 @@ on: [pull_request]
 
 jobs:
   build:
-    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.build_unstable }}
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
 
     env:
@@ -23,7 +23,7 @@ jobs:
         ]
 
         build_type: [Debug, Release]
-        build_unstable: [ON, OFF]
+        build_unstable: [ON]
         include:
           - name: windows-2016-cl
             os: windows-2016

From 84049ebecffcd334a97cedf9479fe8afc2f50f46 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sun, 16 Aug 2020 20:02:35 -0400
Subject: [PATCH 29/29] Add Python to the name of CI

---
 .github/workflows/build-python.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 9edd1c24d..0b4a7f12f 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -4,7 +4,7 @@ on: [pull_request]
 
 jobs:
   build:
-    name: ${{ matrix.name }} ${{ matrix.build_type }} ${{ matrix.python_version }}
+    name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
     runs-on: ${{ matrix.os }}
 
     env: