Merged in remove_hardcoded_internal_eigen_paths (pull request #131)
Get rid of hardcoded path to the internal version of eigen inside gtsamrelease/4.3a0
Chris Beall
commit
f95acf4971
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@ -196,8 +196,7 @@ endif()
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### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
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### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
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### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization)
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# option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
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set(GTSAM_USE_SYSTEM_EIGEN OFF)
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option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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@ -206,14 +205,22 @@ if(GTSAM_USE_SYSTEM_EIGEN)
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find_package(Eigen3 REQUIRED)
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include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
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# check if MKL is also enabled - can have one or the other, but not both!
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if(EIGEN_USE_MKL_ALL)
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message(FATAL_ERROR "MKL cannot be used together with system-installed Eigen, as MKL support relies on patches which are not yet in the system-installed Eigen. Disable either GTSAM_USE_SYSTEM_EIGEN or GTSAM_WITH_EIGEN_MKL")
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endif()
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else()
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# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
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# Use bundled Eigen include path.
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set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
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# Clear any variables set by FindEigen3
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# Add the bundled version of eigen to the include path so that it can still be included
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# with #include <Eigen/Core>
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include_directories(BEFORE ${GTSAM_EIGEN_INCLUDE_PREFIX})
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endif()
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# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
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@ -389,6 +396,11 @@ if(NOT MSVC AND NOT XCODE_VERSION)
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
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endif()
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if(GTSAM_USE_SYSTEM_EIGEN)
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message(STATUS " Use System Eigen : Yes")
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else()
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message(STATUS " Use System Eigen : No")
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endif()
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if(GTSAM_USE_TBB)
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message(STATUS " Use Intel TBB : Yes")
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elseif(TBB_FOUND)
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@ -20,8 +20,8 @@
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#include <gtsam/base/timing.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/FastList.h>
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#include <gtsam/3rdparty/Eigen/Eigen/SVD>
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#include <gtsam/3rdparty/Eigen/Eigen/LU>
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#include <Eigen/SVD>
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#include <Eigen/LU>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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@ -706,6 +706,7 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
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return ss.str();
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}
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/* ************************************************************************* */
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void inplace_QR(Matrix& A){
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size_t rows = A.rows();
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size_t cols = A.cols();
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@ -716,7 +717,13 @@ void inplace_QR(Matrix& A){
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HCoeffsType hCoeffs(size);
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RowVectorType temp(cols);
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#ifdef GTSAM_USE_SYSTEM_EIGEN
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// System-Eigen is used, and MKL is off
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Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>(A, hCoeffs, 48, temp.data());
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#else
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// Patched Eigen is used, and MKL is either on or off
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Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
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#endif
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zeroBelowDiagonal(A);
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}
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@ -23,9 +23,9 @@
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#pragma once
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#include <gtsam/base/Vector.h>
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#include <boost/math/special_functions/fpclassify.hpp>
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#include <gtsam/3rdparty/Eigen/Eigen/Core>
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#include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
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#include <gtsam/3rdparty/Eigen/Eigen/LU>
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#include <Eigen/Core>
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#include <Eigen/Cholesky>
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#include <Eigen/LU>
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#include <boost/format.hpp>
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#include <boost/tuple/tuple.hpp>
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@ -19,7 +19,7 @@
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#pragma once
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#include <gtsam/3rdparty/Eigen/Eigen/Dense>
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#include <Eigen/Dense>
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#ifndef OPTIONALJACOBIAN_NOBOOST
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#include <boost/optional.hpp>
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@ -26,7 +26,7 @@
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#endif
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#include <gtsam/global_includes.h>
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#include <gtsam/3rdparty/Eigen/Eigen/Core>
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#include <Eigen/Core>
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#include <iosfwd>
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#include <list>
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@ -42,6 +42,9 @@
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// Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake)
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#cmakedefine GTSAM_USE_TBB
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// Whether we are using system-Eigen or our own patched version
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#cmakedefine GTSAM_USE_SYSTEM_EIGEN
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// Whether Eigen will use MKL (if MKL was found and GTSAM_WITH_EIGEN_MKL is enabled in CMake)
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#cmakedefine GTSAM_USE_EIGEN_MKL
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#cmakedefine EIGEN_USE_MKL_ALL // This is also defined in gtsam_eigen_includes.h
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