129 lines
4.1 KiB
YAML
129 lines
4.1 KiB
YAML
name: Special Cases CI
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on: [pull_request]
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jobs:
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build:
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name: ${{ matrix.name }} ${{ matrix.build_type }}
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runs-on: ${{ matrix.os }}
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env:
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CTEST_OUTPUT_ON_FAILURE: ON
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CTEST_PARALLEL_LEVEL: 2
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CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
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GTSAM_BUILD_UNSTABLE: ON
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strategy:
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fail-fast: false
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matrix:
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# Github Actions requires a single row to be added to the build matrix.
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# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
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name:
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[
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ubuntu-gcc-deprecated,
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ubuntu-gcc-quaternions,
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ubuntu-gcc-tbb,
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ubuntu-cayleymap,
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]
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build_type: [Debug, Release]
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include:
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- name: ubuntu-gcc-deprecated
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os: ubuntu-18.04
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compiler: gcc
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version: "9"
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flag: deprecated
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- name: ubuntu-gcc-quaternions
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os: ubuntu-18.04
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compiler: gcc
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version: "9"
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flag: quaternions
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- name: ubuntu-gcc-tbb
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os: ubuntu-18.04
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compiler: gcc
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version: "9"
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flag: tbb
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- name: ubuntu-cayleymap
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os: ubuntu-18.04
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compiler: gcc
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version: "9"
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flag: cayley
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steps:
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- name: Checkout
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uses: actions/checkout@master
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- name: Install (Linux)
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if: runner.os == 'Linux'
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run: |
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# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
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if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
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gpg --keyserver pool.sks-keyservers.net --recv-key 15CF4D18AF4F7421
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gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add -
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sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
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fi
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sudo apt-get -y update
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sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
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echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
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echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
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if [ "${{ matrix.compiler }}" = "gcc" ]; then
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sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
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echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
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echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
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else
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sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
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echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
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echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
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fi
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- name: Install (macOS)
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if: runner.os == 'macOS'
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run: |
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brew install cmake ninja boost
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if [ "${{ matrix.compiler }}" = "gcc" ]; then
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brew install gcc@${{ matrix.version }}
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echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
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echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
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else
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sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
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echo "CC=clang" >> $GITHUB_ENV
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echo "CXX=clang++" >> $GITHUB_ENV
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fi
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- name: Set Allow Deprecated Flag
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if: matrix.flag == 'deprecated'
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run: |
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echo "GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON" >> $GITHUB_ENV
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echo "Allow deprecated since version 4.1"
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- name: Set Use Quaternions Flag
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if: matrix.flag == 'quaternions'
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run: |
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echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV
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echo "Use Quaternions for rotations"
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- name: Set GTSAM_WITH_TBB Flag
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if: matrix.flag == 'tbb'
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run: |
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echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
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echo "GTSAM Uses TBB"
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- name: Use Cayley Transform for Rot3
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if: matrix.flag == 'cayley'
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run: |
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echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV
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echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV
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echo "GTSAM Uses Cayley map for Rot3"
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- name: Build & Test
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run: |
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bash .github/scripts/unix.sh -t
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