For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant

examples/Pose2SLAMwSPCG_advanced.cpp

@@ -16,6 +16,10 @@
  * Created October 21, 2010
  */
 
+#include <iostream>
+
+#if ENABLE_SPCG
+
 #include <boost/shared_ptr.hpp>
 
 #include <gtsam/slam/pose2SLAM.h>
@@ -95,3 +99,11 @@ int main(void) {
 	return 0 ;
 }
 
+#else
+
+int main() {
+  std::cout << "SPCG is currently disabled" << std::endl;
+  return 0;
+}
+
+#endif

examples/Pose2SLAMwSPCG_easy.cpp

@@ -16,6 +16,10 @@
  * Created October 21, 2010
  */
 
+#include <iostream>
+
+#if ENABLE_SPCG
+
 #include <boost/shared_ptr.hpp>
 
 #include <gtsam/slam/pose2SLAM.h>
@@ -73,3 +77,11 @@ int main(void) {
 	return 0 ;
 }
 
+#else
+
+int main() {
+  std::cout << "SPCG is currently disabled" << std::endl;
+  return 0;
+}
+
+#endif

gtsam/inference/FactorGraph-inl.h

@@ -29,7 +29,6 @@
 #include <boost/tuple/tuple.hpp>
 #include <boost/format.hpp>
 #include <boost/bind.hpp>
-#include <boost/graph/prim_minimum_spanning_tree.hpp>
 #include <boost/iterator/transform_iterator.hpp>
 
 #include <stdio.h>

gtsam/nonlinear/ISAM2-inl.h

@@ -44,7 +44,7 @@ ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2(const ISAM2Params& params):
     delta_(Permutation(), deltaUnpermuted_), params_(params) {
   // See note in gtsam/base/boost_variant_with_workaround.h
   if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
-    doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
+    doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
 }
 
 /* ************************************************************************* */
@@ -53,7 +53,7 @@ ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2():
     delta_(Permutation(), deltaUnpermuted_) {
   // See note in gtsam/base/boost_variant_with_workaround.h
   if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
-    doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
+    doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
 }
 
 /* ************************************************************************* */
@@ -533,7 +533,7 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
   if(params_.optimizationParams.type() == typeid(ISAM2GaussNewtonParams)) {
   // See note in gtsam/base/boost_variant_with_workaround.h
     const ISAM2GaussNewtonParams& gaussNewtonParams =
-        variant_workaround::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
+        boost::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
     if (gaussNewtonParams.wildfireThreshold <= 0.0 || disableReordering) {
       VectorValues newDelta(theta_.dims(ordering_));
       optimize2(this->root(), newDelta);
@@ -557,7 +557,7 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
   } else if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) {
   // See note in gtsam/base/boost_variant_with_workaround.h
     const ISAM2DoglegParams& doglegParams =
-        variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams);
+        boost::get<ISAM2DoglegParams>(params_.optimizationParams);
     // Do one Dogleg iteration
     DoglegOptimizerImpl::IterationResult doglegResult = DoglegOptimizerImpl::Iterate(
         *doglegDelta_, doglegParams.adaptationMode, *this, nonlinearFactors_, theta_, ordering_, nonlinearFactors_.error(theta_), doglegParams.verbose);

gtsam/nonlinear/ISAM2.h

@@ -24,7 +24,8 @@
 #include <gtsam/inference/BayesTree.h>
 
 // Workaround for boost < 1.47, see note in file
-#include <gtsam/base/boost_variant_with_workaround.h>
+//#include <gtsam/base/boost_variant_with_workaround.h>
+#include <boost/variant.hpp>
 
 namespace gtsam {
 

gtsam/nonlinear/NonlinearOptimization-inl.h

@@ -21,7 +21,10 @@
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
 
+#if ENABLE_SPCG
 #include <gtsam/linear/SubgraphSolver.h>
+#endif
+
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 
 using namespace std;
@@ -74,6 +77,7 @@ namespace gtsam {
 			return *optimizer.gaussNewton().values();
 	}
 
+#if ENABLE_SPCG
 	/**
 	 * The sparse preconditioned conjugate gradient solver
 	 */
@@ -101,6 +105,7 @@ namespace gtsam {
 		else
 			return *optimizer.gaussNewton().values();
 	}
+#endif
 
 	/**
 	 * optimization that returns the values
@@ -116,10 +121,12 @@ namespace gtsam {
 		case MULTIFRONTAL:
 			return optimizeMultiFrontal<G,T>(graph, initialEstimate, parameters,
 					nonlinear_method == LM);
+#if ENABLE_SPCG
 		case SPCG:
 //			return optimizeSPCG<G,T>(graph, initialEstimate, parameters,
 //								nonlinear_method == LM);
 			throw runtime_error("optimize: SPCG not supported yet due to the specific pose constraint");
+#endif
 		}
 		throw runtime_error("optimize: undefined solver");
 	}

gtsam/nonlinear/NonlinearOptimization.h

@@ -36,7 +36,9 @@ namespace gtsam {
 	typedef enum {
 		SEQUENTIAL,      // Sequential elimination
 		MULTIFRONTAL,      // Multi-frontal elimination
+#if ENABLE_SPCG
 		SPCG,			  // Subgraph Preconditioned Conjugate Gradient
+#endif
 	} LinearSolver;
 
 	/**

tests/testPose2SLAMwSPCG.cpp

@@ -14,6 +14,7 @@ using namespace pose2SLAM;
 
 const double tol = 1e-5;
 
+#if ENABLE_SPCG
 /* ************************************************************************* */
 TEST(testPose2SLAMwSPCG, example1) {
 
@@ -66,6 +67,7 @@ TEST(testPose2SLAMwSPCG, example1) {
 
 	EXPECT(assert_equal(expected, actual, tol));
 }
+#endif
 
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }