From de2e2899c8461cccdd8a56db6c7cd479223270e2 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Mon, 23 Jan 2023 17:33:42 -0800
Subject: [PATCH] don't compile Gnc when there is no boost

---
 gtsam/CMakeLists.txt          | 7 +++++++
 gtsam/nonlinear/nonlinear.i   | 3 +++
 gtsam_unstable/CMakeLists.txt | 4 ++--
 tests/CMakeLists.txt          | 4 ++++
 4 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 03ffb54bc..46a45875f 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -48,6 +48,13 @@ else()
     set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3Q.cpp")
 endif()
 
+# if GTSAM_USE_BOOST_FEATURES is not set, then we need to exclude the following:
+if(NOT GTSAM_USE_BOOST_FEATURES)
+    list (APPEND excluded_sources ${excluded_sources}
+        "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/GncOptimizer.h"
+    )
+endif()
+ 
 # Common headers
 file(GLOB gtsam_core_headers "*.h")
 install(FILES ${gtsam_core_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 3e3373f61..bc14efc20 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -582,6 +582,8 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
   double getDelta() const;
 };
   
+/* Not creating bindings to GncOptimizer since the Chi2Inv currently uses boost */
+/* 
 #include <gtsam/nonlinear/GncOptimizer.h>
 template<PARAMS>
 virtual class GncOptimizer {
@@ -598,6 +600,7 @@ virtual class GncOptimizer {
 
 typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::GaussNewtonParams>> GncGaussNewtonOptimizer;
 typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::LevenbergMarquardtParams>> GncLMOptimizer;
+*/
 
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 08a97e4d3..d02731af0 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -31,12 +31,12 @@ set (excluded_headers # "")
 
 # if GTSAM_USE_BOOST_FEATURES is not set, then we need to exclude the following:
 if(NOT GTSAM_USE_BOOST_FEATURES)
-    set (excluded_sources ${excluded_sources}
+    list (APPEND excluded_sources ${excluded_sources}
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.cpp"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.cpp"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.cpp"
     )
-    set (excluded_headers ${excluded_headers}
+    list (APPEND excluded_headers ${excluded_headers}
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.h"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.h"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.h"
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 5eaad45dc..c0c960e65 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -7,6 +7,10 @@ if (${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang") # might not be best test - Richar
 	list (APPEND tests_exclude "testSerializationSlam.cpp") 
 endif()
 
+if (NOT GTSAM_USE_BOOST_FEATURES)
+	list(APPEND tests_exclude "testGncOptimizer.cpp")
+endif()
+
 # Build tests
 gtsamAddTestsGlob(tests "test*.cpp" "${tests_exclude}" "gtsam")