move LPSolver and QPSolver to unstable. Add script to compile lpsolve on Mac when doing cmake if it's not found.

CMakeLists.txt

@@ -178,14 +178,6 @@ if(GTSAM_WITH_EIGEN_MKL AND GTSAM_USE_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
     endif()
 endif()
 
-###############################################################################
-# Find lp_solve
-include(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/lp_solve_5.5/cmake/Findlpsolve.cmake)
-message("lpsolve_INCLUDE_DIRS: " ${lpsolve_INCLUDE_DIRS})
-include_directories(${lpsolve_INCLUDE_DIRS})
-list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${lpsolve_LIBRARY})
-
-
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
 ### Disabled until our patches are included in Eigen ###

gtsam/linear/HessianFactor.h

@@ -386,7 +386,7 @@ namespace gtsam {
 
     /**
      * eta for Hessian
-     * Ignore duals parameters. It's only valid for constraints, which need to be JacobianFactor
+     * Ignore duals parameters. It's only valid for constraints, which need to be a JacobianFactor
      */
     VectorValues gradientAtZero(const boost::optional<const VectorValues&> negDuals = boost::none) const;
 

gtsam/linear/tests/testHessianFactor.cpp

@@ -446,12 +446,6 @@ TEST(HessianFactor, gradientAtZero)
   EXPECT(assert_equal(-A.transpose()*b, expectedG.vector(keys)));
   VectorValues actualG = factor.gradientAtZero();
   EXPECT(assert_equal(expectedG, actualG));
-
-  // test gradient at zero scaled with a dual variable
-  Vector dual = (Vector(1) << 5.0);
-  VectorValues actualGscaled = factor.gradientAtZero(dual);
-  VectorValues expectedGscaled = pair_list_of<Key, Vector>(0, -g1*dual[0]) (1, -g2*dual[0]);
-  EXPECT(assert_equal(expectedGscaled, actualGscaled));
 }
 
 /* ************************************************************************* */

gtsam/linear/tests/testJacobianFactor.cpp

@@ -326,14 +326,6 @@ TEST(JacobianFactor, operators )
   EXPECT(assert_equal(-A.transpose()*b2, expectedG.vector(keys)));
   VectorValues actualG = lf.gradientAtZero();
   EXPECT(assert_equal(expectedG, actualG));
-
-  // test gradient at zero scaled by a dual vector
-  Vector dual = (Vector(2) << 3.0, 5.0);
-  VectorValues actualGscaled = lf.gradientAtZero(dual);
-  VectorValues expectedGscaled;
-  expectedGscaled.insert(1, (Vector(2) << 60,-50));
-  expectedGscaled.insert(2, (Vector(2) << -60, 50));
-  EXPECT(assert_equal(expectedGscaled, actualGscaled));
 }
 
 /* ************************************************************************* */
@@ -584,7 +576,7 @@ TEST ( JacobianFactor, constraint_eliminate2 )
   Matrix m(1,2);
   Matrix Aempty = m.topRows(0);
   Vector bempty = m.block(0,0,0,1);
-  JacobianFactor expectedLF(2, Aempty, bempty, noiseModel::Constrained::All(0));
+  JacobianFactor expectedLF(2, Aempty, bempty, noiseModel::Diagonal::Sigmas(Vector()));
   EXPECT(assert_equal(expectedLF, *actual.second));
 
   // verify CG

gtsam_unstable/CMakeLists.txt

@@ -3,6 +3,7 @@
 set (gtsam_unstable_subdirs
     base
     geometry
+    linear
     discrete
     dynamics
     nonlinear
@@ -28,6 +29,33 @@ set (excluded_headers # "")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
 )
 
+
+#####################
+# Find lp_solve
+unset(lpsolve_LIBRARY CACHE)
+unset(lpsolve_INCLUDE_DIRS CACHE)
+include(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/lp_solve_5.5/cmake/Findlpsolve.cmake)
+# If lpsolve_LIBRARY is not found, recompile the library 
+message("lpsolve_LIBRARY: " ${lpsolve_LIBRARY} " ...")
+if(NOT lpsolve_LIBRARY)
+    message("Building lpsolve. Please wait...")
+    # TODO: customize for other platforms
+    execute_process(COMMAND sh ccc.osx 
+                        WORKING_DIRECTORY ${lpsolve_BUILD_PATH}
+                        OUTPUT_QUIET
+                        ERROR_QUIET)
+    #set(lpsolve_INCLUDE_DIRS ${lpsolve_BUILD_PATH}/../)
+    #set(lpsolve_LIBRARY ${lpsolve_BUILD_PATH}/liblpsolve55.a)
+    include(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/lp_solve_5.5/cmake/Findlpsolve.cmake)
+    message("Done!")
+endif()
+message("lpsolve_INCLUDE_DIRS: " ${lpsolve_INCLUDE_DIRS})
+message("lpsolve_LIBRARY: " ${lpsolve_LIBRARY})
+
+include_directories(${lpsolve_INCLUDE_DIRS})
+list(APPEND GTSAM_UNSTABLE_ADDITIONAL_LIBRARIES ${lpsolve_LIBRARY})
+#####################
+
 # assemble core libraries
 foreach(subdir ${gtsam_unstable_subdirs})
     # Build convenience libraries
@@ -47,6 +75,7 @@ endforeach(subdir)
 set(gtsam_unstable_srcs
     ${base_srcs}
     ${geometry_srcs}
+    ${linear_srcs}
     ${discrete_srcs}
     ${dynamics_srcs}
     ${nonlinear_srcs}
@@ -77,7 +106,7 @@ if (GTSAM_BUILD_STATIC_LIBRARY)
 			PREFIX "lib"
 			COMPILE_DEFINITIONS GTSAM_UNSTABLE_IMPORT_STATIC)
 	endif()
-	target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
+	target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES} ${GTSAM_UNSTABLE_ADDITIONAL_LIBRARIES})
 	install(TARGETS gtsam_unstable EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
 	list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
 	set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
@@ -95,7 +124,7 @@ else()
 			DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS
 			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
 	endif()
-    target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
+    target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES} ${GTSAM_UNSTABLE_ADDITIONAL_LIBRARIES})
     install(TARGETS gtsam_unstable EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
     list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)

gtsam_unstable/linear/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Install headers
+file(GLOB linear_headers "*.h")
+install(FILES ${linear_headers} DESTINATION include/gtsam_unstable/linear)
+
+# Add all tests
+add_subdirectory(tests)

gtsam_unstable/linear/LPSolver.cpp

@@ -8,7 +8,7 @@
 #include <boost/foreach.hpp>
 #include <boost/range/adaptor/map.hpp>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/LPSolver.h>
+#include <gtsam_unstable/linear/LPSolver.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/linear/QPSolver.cpp

@@ -8,8 +8,8 @@
 #include <boost/foreach.hpp>
 #include <boost/range/adaptor/map.hpp>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/QPSolver.h>
-#include <gtsam/linear/LPSolver.h>
+#include <gtsam_unstable/linear/QPSolver.h>
+#include <gtsam_unstable/linear/LPSolver.h>
 
 using namespace std;
 

gtsam_unstable/linear/tests/CMakeLists.txt

@@ -0,0 +1 @@
+gtsamAddTestsGlob(linear_unstable "test*.cpp" "" "gtsam_unstable")

gtsam_unstable/linear/tests/testLPSolver.cpp

@@ -9,7 +9,7 @@
 #include <CppUnitLite/TestHarness.h>
 #include <boost/range/adaptor/map.hpp>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/LPSolver.h>
+#include <gtsam_unstable/linear/LPSolver.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/linear/tests/testQPSolver.cpp

@@ -19,7 +19,7 @@
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/QPSolver.h>
+#include <gtsam_unstable/linear/QPSolver.h>
 
 using namespace std;
 using namespace gtsam;