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Merge branch 'develop' into law/cmakeoptions

release/4.3a0
Varun Agrawal 2023-02-15 21:52:28 -05:00 committed by GitHub
parent b103fea40c 282c3f4d45
commit d303b221de
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
25 changed files with 79 additions and 89 deletions
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2
CMakeLists.txt
View File

@ -54,7 +54,7 @@ include(cmake/HandleGeneralOptions.cmake) # CMake build options
# Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
if(GTSAM_ENABLE_BOOST_SERIALIZATION)
add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
add_compile_definitions(GTSAM_ENABLE_BOOST_SERIALIZATION)
endif()
option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" ON)

6
cmake/HandleGeneralOptions.cmake
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@ -30,7 +30,6 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions depr
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
if (GTSAM_FORCE_SHARED_LIB)
message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")
@ -50,11 +49,6 @@ else()
set(GTSAM_SHARED_LIB 0 CACHE BOOL "" FORCE)
endif()
#TODO(kartikarcot) defining it in config.h.in did not work
if (GTSAM_ENABLE_BOOST_SERIALIZATION)
add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif()

2
cmake/HandlePrintConfiguration.cmake
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@ -29,6 +29,8 @@ if(NOT MSVC AND NOT XCODE_VERSION)
print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
endif()
print_config("Enable Boost serialization" "${GTSAM_ENABLE_BOOST_SERIALIZATION}")
print_build_options_for_target(gtsam)
print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")

8
gtsam/base/Group.h
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@ -139,8 +139,8 @@ compose_pow(const G& g, size_t n) {
/// Assumes nothing except group structure and Testable from G and H
template<typename G, typename H>
class DirectProduct: public std::pair<G, H> {
GTSAM_CONCEPT_ASSERT1(IsGroup<G>);
GTSAM_CONCEPT_ASSERT2(IsGroup<H>);
GTSAM_CONCEPT_ASSERT(IsGroup<G>);
GTSAM_CONCEPT_ASSERT(IsGroup<H>);
public:
/// Default constructor yields identity
@ -170,8 +170,8 @@ struct traits<DirectProduct<G, H> > :
/// Assumes existence of three additive operators for both groups
template<typename G, typename H>
class DirectSum: public std::pair<G, H> {
GTSAM_CONCEPT_ASSERT1(IsGroup<G>); // TODO(frank): check additive
GTSAM_CONCEPT_ASSERT2(IsGroup<H>); // TODO(frank): check additive
GTSAM_CONCEPT_ASSERT(IsGroup<G>); // TODO(frank): check additive
GTSAM_CONCEPT_ASSERT(IsGroup<H>); // TODO(frank): check additive
const G& g() const { return this->first; }
const H& h() const { return this->second;}

4
gtsam/base/ProductLieGroup.h
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@ -27,8 +27,8 @@ namespace gtsam {
/// Assumes Lie group structure for G and H
template<typename G, typename H>
class ProductLieGroup: public std::pair<G, H> {
GTSAM_CONCEPT_ASSERT1(IsLieGroup<G>);
GTSAM_CONCEPT_ASSERT2(IsLieGroup<H>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<G>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<H>);
typedef std::pair<G, H> Base;
protected:

15
gtsam/base/concepts.h
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@ -14,21 +14,12 @@
#include <boost/concept/requires.hpp>
#include <boost/concept_check.hpp>
#define GTSAM_CONCEPT_ASSERT(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_ASSERT1(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_ASSERT2(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_ASSERT3(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_ASSERT4(concept) BOOST_CONCEPT_ASSERT((concept))
#define GTSAM_CONCEPT_REQUIRES(concept, return_type) BOOST_CONCEPT_REQUIRES(((concept)), (return_type))
#else
// These do something sensible:
// This does something sensible:
#define BOOST_CONCEPT_USAGE(concept) void check##concept()
// TODO(dellaert): would be nice if it was a single macro...
#define GTSAM_CONCEPT_ASSERT(concept) concept checkConcept [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT1(concept) concept checkConcept1 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT2(concept) concept checkConcept2 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT3(concept) concept checkConcept3 [[maybe_unused]]
#define GTSAM_CONCEPT_ASSERT4(concept) concept checkConcept4 [[maybe_unused]]
// This one just ignores concept for now:
// These just ignore the concept checking for now:
#define GTSAM_CONCEPT_ASSERT(concept)
#define GTSAM_CONCEPT_REQUIRES(concept, return_type) return_type
#endif

8
gtsam/base/tests/testMatrix.cpp
View File

@ -1151,8 +1151,10 @@ TEST(Matrix, Matrix24IsVectorSpace) {
}
TEST(Matrix, RowMajorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double, 2, 3, Eigen::RowMajor> RowMajor;
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowMajor>);
#endif
}
TEST(Matrix, MatrixIsVectorSpace) {
@ -1164,9 +1166,11 @@ TEST(Matrix, VectorIsVectorSpace) {
}
TEST(Matrix, RowVectorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double, 1, -1> RowVector;
GTSAM_CONCEPT_ASSERT1(IsVectorSpace<RowVector>);
GTSAM_CONCEPT_ASSERT2(IsVectorSpace<Vector5>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector5>);
#endif
}
//******************************************************************************

6
gtsam/base/tests/testVector.cpp
View File

@ -267,13 +267,15 @@ TEST(Vector, linear_dependent3 )
//******************************************************************************
TEST(Vector, VectorIsVectorSpace) {
GTSAM_CONCEPT_ASSERT1(IsVectorSpace<Vector5>);
GTSAM_CONCEPT_ASSERT2(IsVectorSpace<Vector>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector5>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Vector>);
}
TEST(Vector, RowVectorIsVectorSpace) {
#ifdef GTSAM_USE_BOOST_FEATURES
typedef Eigen::Matrix<double,1,-1> RowVector;
GTSAM_CONCEPT_ASSERT(IsVectorSpace<RowVector>);
#endif
}
/* ************************************************************************* */

4
gtsam/geometry/tests/testCyclic.cpp
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@ -107,8 +107,8 @@ struct traits<K4> : internal::AdditiveGroupTraits<K4> {
TEST(Cyclic , DirectSum) {
// The Direct sum of Z2 and Z2 is *not* Cyclic<4>, but the
// smallest non-cyclic group called the Klein four-group:
GTSAM_CONCEPT_ASSERT1(IsGroup<K4>);
GTSAM_CONCEPT_ASSERT2(IsTestable<K4>);
GTSAM_CONCEPT_ASSERT(IsGroup<K4>);
GTSAM_CONCEPT_ASSERT(IsTestable<K4>);
// Refer to http://en.wikipedia.org/wiki/Klein_four-group
K4 e(0,0), a(0, 1), b(1, 0), c(1, 1);

12
gtsam/geometry/tests/testPoint2.cpp
View File

@ -34,9 +34,9 @@ TEST(Point2 , Constructor) {
//******************************************************************************
TEST(Double , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<double>);
GTSAM_CONCEPT_ASSERT2(IsManifold<double>);
GTSAM_CONCEPT_ASSERT3(IsVectorSpace<double>);
GTSAM_CONCEPT_ASSERT(IsGroup<double>);
GTSAM_CONCEPT_ASSERT(IsManifold<double>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<double>);
}
//******************************************************************************
@ -48,9 +48,9 @@ TEST(Double , Invariants) {
//******************************************************************************
TEST(Point2 , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Point2>);
GTSAM_CONCEPT_ASSERT2(IsManifold<Point2>);
GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point2>);
GTSAM_CONCEPT_ASSERT(IsGroup<Point2>);
GTSAM_CONCEPT_ASSERT(IsManifold<Point2>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point2>);
}
//******************************************************************************

6
gtsam/geometry/tests/testPoint3.cpp
View File

@ -34,9 +34,9 @@ TEST(Point3 , Constructor) {
//******************************************************************************
TEST(Point3 , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Point3>);
GTSAM_CONCEPT_ASSERT2(IsManifold<Point3>);
GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point3>);
GTSAM_CONCEPT_ASSERT(IsGroup<Point3>);
GTSAM_CONCEPT_ASSERT(IsManifold<Point3>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point3>);
}
//******************************************************************************

6
gtsam/geometry/tests/testPose2.cpp
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@ -35,9 +35,9 @@ GTSAM_CONCEPT_LIE_INST(Pose2)
//******************************************************************************
TEST(Pose2 , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Pose2 >);
GTSAM_CONCEPT_ASSERT2(IsManifold<Pose2 >);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Pose2 >);
GTSAM_CONCEPT_ASSERT(IsGroup<Pose2 >);
GTSAM_CONCEPT_ASSERT(IsManifold<Pose2 >);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose2 >);
}
/* ************************************************************************* */

6
gtsam/geometry/tests/testQuaternion.cpp
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@ -29,9 +29,9 @@ typedef traits<Q>::ChartJacobian QuaternionJacobian;
//******************************************************************************
TEST(Quaternion , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Quaternion >);
GTSAM_CONCEPT_ASSERT2(IsManifold<Quaternion >);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Quaternion >);
GTSAM_CONCEPT_ASSERT(IsGroup<Quaternion >);
GTSAM_CONCEPT_ASSERT(IsManifold<Quaternion >);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Quaternion >);
}
//******************************************************************************

6
gtsam/geometry/tests/testRot3.cpp
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@ -38,9 +38,9 @@ static double error = 1e-9, epsilon = 0.001;
//******************************************************************************
TEST(Rot3 , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Rot3 >);
GTSAM_CONCEPT_ASSERT2(IsManifold<Rot3 >);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Rot3 >);
GTSAM_CONCEPT_ASSERT(IsGroup<Rot3 >);
GTSAM_CONCEPT_ASSERT(IsManifold<Rot3 >);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot3 >);
}
/* ************************************************************************* */

6
gtsam/geometry/tests/testSO3.cpp
View File

@ -36,9 +36,9 @@ TEST(SO3, Identity) {
//******************************************************************************
TEST(SO3, Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<SO3>);
GTSAM_CONCEPT_ASSERT2(IsManifold<SO3>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<SO3>);
GTSAM_CONCEPT_ASSERT(IsGroup<SO3>);
GTSAM_CONCEPT_ASSERT(IsManifold<SO3>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<SO3>);
}
//******************************************************************************

6
gtsam/geometry/tests/testSO4.cpp
View File

@ -42,9 +42,9 @@ TEST(SO4, Identity) {
//******************************************************************************
TEST(SO4, Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<SO4>);
GTSAM_CONCEPT_ASSERT2(IsManifold<SO4>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<SO4>);
GTSAM_CONCEPT_ASSERT(IsGroup<SO4>);
GTSAM_CONCEPT_ASSERT(IsManifold<SO4>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<SO4>);
}
//******************************************************************************

6
gtsam/geometry/tests/testSOn.cpp
View File

@ -84,9 +84,9 @@ TEST(SOn, SO5) {
//******************************************************************************
TEST(SOn, Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<SOn>);
GTSAM_CONCEPT_ASSERT2(IsManifold<SOn>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<SOn>);
GTSAM_CONCEPT_ASSERT(IsGroup<SOn>);
GTSAM_CONCEPT_ASSERT(IsManifold<SOn>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<SOn>);
}
//******************************************************************************

6
gtsam/geometry/tests/testSimilarity2.cpp
View File

@ -35,9 +35,9 @@ static const double s = 4;
//******************************************************************************
TEST(Similarity2, Concepts) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Similarity2>);
GTSAM_CONCEPT_ASSERT2(IsManifold<Similarity2>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Similarity2>);
GTSAM_CONCEPT_ASSERT(IsGroup<Similarity2>);
GTSAM_CONCEPT_ASSERT(IsManifold<Similarity2>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Similarity2>);
}
//******************************************************************************

6
gtsam/geometry/tests/testSimilarity3.cpp
View File

@ -54,9 +54,9 @@ const double degree = M_PI / 180;
//******************************************************************************
TEST(Similarity3, Concepts) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Similarity3 >);
GTSAM_CONCEPT_ASSERT2(IsManifold<Similarity3 >);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Similarity3 >);
GTSAM_CONCEPT_ASSERT(IsGroup<Similarity3 >);
GTSAM_CONCEPT_ASSERT(IsManifold<Similarity3 >);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Similarity3 >);
}
//******************************************************************************

6
gtsam/geometry/tests/testStereoPoint2.cpp
View File

@ -31,9 +31,9 @@ GTSAM_CONCEPT_TESTABLE_INST(StereoPoint2)
//******************************************************************************
TEST(StereoPoint2 , Concept) {
GTSAM_CONCEPT_ASSERT1(IsGroup<StereoPoint2>);
GTSAM_CONCEPT_ASSERT2(IsManifold<StereoPoint2 >);
GTSAM_CONCEPT_ASSERT3(IsVectorSpace<StereoPoint2>);
GTSAM_CONCEPT_ASSERT(IsGroup<StereoPoint2>);
GTSAM_CONCEPT_ASSERT(IsManifold<StereoPoint2 >);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<StereoPoint2>);
}
/* ************************************************************************* */

4
gtsam/nonlinear/ExtendedKalmanFilter.h
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@ -44,8 +44,8 @@ namespace gtsam {
template <class VALUE>
class ExtendedKalmanFilter {
// Check that VALUE type is a testable Manifold
GTSAM_CONCEPT_ASSERT1(IsTestable<VALUE>);
GTSAM_CONCEPT_ASSERT2(IsManifold<VALUE>);
GTSAM_CONCEPT_ASSERT(IsTestable<VALUE>);
GTSAM_CONCEPT_ASSERT(IsManifold<VALUE>);
public:
typedef std::shared_ptr<ExtendedKalmanFilter<VALUE> > shared_ptr;

4
gtsam/slam/BetweenFactor.h
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@ -40,8 +40,8 @@ namespace gtsam {
class BetweenFactor: public NoiseModelFactorN<VALUE, VALUE> {
// Check that VALUE type is a testable Lie group
GTSAM_CONCEPT_ASSERT1(IsTestable<VALUE>);
GTSAM_CONCEPT_ASSERT2(IsLieGroup<VALUE>);
GTSAM_CONCEPT_ASSERT(IsTestable<VALUE>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<VALUE>);
public:

6
tests/testLie.cpp
View File

@ -47,9 +47,9 @@ template<> struct traits<Product> : internal::LieGroupTraits<Product> {
//******************************************************************************
TEST(Lie, ProductLieGroup) {
GTSAM_CONCEPT_ASSERT1(IsGroup<Product>);
GTSAM_CONCEPT_ASSERT2(IsManifold<Product>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Product>);
GTSAM_CONCEPT_ASSERT(IsGroup<Product>);
GTSAM_CONCEPT_ASSERT(IsManifold<Product>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Product>);
Product pair1;
Vector5 d;
d << 1, 2, 0.1, 0.2, 0.3;

24
tests/testManifold.cpp
View File

@ -38,26 +38,26 @@ typedef PinholeCamera<Cal3Bundler> Camera;
//******************************************************************************
TEST(Manifold, SomeManifoldsGTSAM) {
//GTSAM_CONCEPT_ASSERT(IsManifold<int>); // integer is not a manifold
GTSAM_CONCEPT_ASSERT1(IsManifold<Camera>);
GTSAM_CONCEPT_ASSERT2(IsManifold<Cal3_S2>);
GTSAM_CONCEPT_ASSERT3(IsManifold<Cal3Bundler>);
GTSAM_CONCEPT_ASSERT4(IsManifold<Camera>);
GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
GTSAM_CONCEPT_ASSERT(IsManifold<Cal3_S2>);
GTSAM_CONCEPT_ASSERT(IsManifold<Cal3Bundler>);
GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
}
//******************************************************************************
TEST(Manifold, SomeLieGroupsGTSAM) {
GTSAM_CONCEPT_ASSERT1(IsLieGroup<Rot2>);
GTSAM_CONCEPT_ASSERT2(IsLieGroup<Pose2>);
GTSAM_CONCEPT_ASSERT3(IsLieGroup<Rot3>);
GTSAM_CONCEPT_ASSERT4(IsLieGroup<Pose3>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot2>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose2>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot3>);
GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose3>);
}
//******************************************************************************
TEST(Manifold, SomeVectorSpacesGTSAM) {
GTSAM_CONCEPT_ASSERT1(IsVectorSpace<double>);
GTSAM_CONCEPT_ASSERT2(IsVectorSpace<float>);
GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point2>);
GTSAM_CONCEPT_ASSERT4(IsVectorSpace<Matrix24>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<double>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<float>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point2>);
GTSAM_CONCEPT_ASSERT(IsVectorSpace<Matrix24>);
}
//******************************************************************************

3
timing/CMakeLists.txt
View File

@ -1,6 +1,3 @@
set (excluded_scripts
elaboratePoint2KalmanFilter.cpp
)
# Add scripts to exclude if GTSAM_ENABLE_BOOST_SERIALIZATION is not set
if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
# add to excluded scripts