Merge branch 'develop' into fix/biasAccOmegaInit

.clang-format

@@ -0,0 +1,8 @@
+BasedOnStyle: Google
+
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 100
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+PointerAlignment: Left

.github/scripts/python.sh

@@ -9,80 +9,81 @@ set -x -e
 # install TBB with _debug.so files
 function install_tbb()
 {
-  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.5
-  TBB_DIR=tbb44_20160526oss
-  TBB_SAVEPATH="/tmp/tbb.tgz"
-
+  echo install_tbb
   if [ "$(uname)" == "Linux" ]; then
-    OS_SHORT="lin"
-    TBB_LIB_DIR="intel64/gcc4.4"
-    SUDO="sudo"
+    sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
-    OS_SHORT="osx"
-    TBB_LIB_DIR=""
-    SUDO=""
-
+    brew install tbb
   fi
-
-  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
-  tar -C /tmp -xf $TBB_SAVEPATH
-
-  TBBROOT=/tmp/$TBB_DIR
-  # Copy the needed files to the correct places.
-  # This works correctly for CI builds, instead of setting path variables.
-  # This is what Homebrew does to install TBB on Macs
-  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
-  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
-
 }
 
 if [ -z ${PYTHON_VERSION+x} ]; then
     echo "Please provide the Python version to build against!"
     exit 127
 fi
 
-PYTHON="python${PYTHON_VERSION}"
+export PYTHON="python${PYTHON_VERSION}"
 
-if [[ $(uname) == "Darwin" ]]; then
+function install_dependencies()
+{
+  if [[ $(uname) == "Darwin" ]]; then
     brew install wget
-else
+  else
     # Install a system package required by our library
     sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
-fi
-
-PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
-
-[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
-
-
-BUILD_PYBIND="ON"
-
-sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+  fi
 
-mkdir $GITHUB_WORKSPACE/build
-cd $GITHUB_WORKSPACE/build
+  export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
-cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
-    -DGTSAM_BUILD_TESTS=OFF \
-    -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
-    -DGTSAM_USE_QUATERNIONS=OFF \
-    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-    -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
-    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \
-    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+  if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
+    install_tbb
+  fi
+}
 
+function build()
+{
+  export CMAKE_GENERATOR=Ninja
+  BUILD_PYBIND="ON"
+  cmake $GITHUB_WORKSPACE \
+      -B build \
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+      -DGTSAM_BUILD_TESTS=OFF \
+      -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_USE_QUATERNIONS=OFF \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+      -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+      -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+      -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+      -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+
+  # Set to 2 cores so that Actions does not error out during resource provisioning.
+  cmake --build build -j2
+
+  $PYTHON -m pip install --user build/python
+}
 
-# Set to 2 cores so that Actions does not error out during resource provisioning.
-make -j2 install
+function test()
+{
+  cd $GITHUB_WORKSPACE/python/gtsam/tests
+  $PYTHON -m unittest discover -v
+  cd $GITHUB_WORKSPACE
+}
 
-cd $GITHUB_WORKSPACE/build/python
-$PYTHON -m pip install --user .
-cd $GITHUB_WORKSPACE/python/gtsam/tests
-$PYTHON -m unittest discover -v
+# select between build or test
+case $1 in
+  -d)
+    install_dependencies
+    ;;
+  -b)
+    build
+    ;;
+  -t)
+    test
+    ;;
+esac

.github/scripts/unix.sh

@@ -5,86 +5,65 @@
 # Specifically Linux and macOS.
 ##########################################################
 
+set -e   # Make sure any error makes the script to return an error code
+set -x   # echo
+
 # install TBB with _debug.so files
 function install_tbb()
 {
-  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.5
-  TBB_DIR=tbb44_20160526oss
-  TBB_SAVEPATH="/tmp/tbb.tgz"
-
+  echo install_tbb  
   if [ "$(uname)" == "Linux" ]; then
-    OS_SHORT="lin"
-    TBB_LIB_DIR="intel64/gcc4.4"
-    SUDO="sudo"
+    sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
-    OS_SHORT="osx"
-    TBB_LIB_DIR=""
-    SUDO=""
-
+    brew install tbb
   fi
-
-  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
-  tar -C /tmp -xf $TBB_SAVEPATH
-
-  TBBROOT=/tmp/$TBB_DIR
-  # Copy the needed files to the correct places.
-  # This works correctly for CI builds, instead of setting path variables.
-  # This is what Homebrew does to install TBB on Macs
-  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
-  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
-
 }
 
 # common tasks before either build or test
 function configure()
 {
-  set -e   # Make sure any error makes the script to return an error code
-  set -x   # echo
+  # delete old build
+  rm -rf build
 
-  SOURCE_DIR=$GITHUB_WORKSPACE
-  BUILD_DIR=$GITHUB_WORKSPACE/build
-
-  #env
-  rm -fr $BUILD_DIR || true
-  mkdir $BUILD_DIR && cd $BUILD_DIR
-
-  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+  if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
+    install_tbb
+  fi
 
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
     export CXX=g++-$GCC_VERSION
   fi
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
-  cmake $SOURCE_DIR \
+  # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
+  export CMAKE_GENERATOR=Ninja
+  cmake $GITHUB_WORKSPACE \
+      -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
+      -DCMAKE_CXX_FLAGS="-w" \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=${GTSAM_ALLOW_DEPRECATED_SINCE_V42:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=${GTSAM_ALLOW_DEPRECATED_SINCE_V43:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
       -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
       -DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \
       -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DGTSAM_SINGLE_TEST_EXE=ON \
-      -DBOOST_ROOT=$BOOST_ROOT \
-      -DBoost_NO_SYSTEM_PATHS=ON \
-      -DBoost_ARCHITECTURE=-x64
+      -DGTSAM_SINGLE_TEST_EXE=OFF
 }
 
 
 # common tasks after either build or test
 function finish ()
 {
   # Print ccache stats
-  [ -x "$(command -v ccache)" ] && ccache -s
-
-  cd $SOURCE_DIR
+  if [ -x "$(command -v ccache)" ]; then
+    ccache -s
+  fi
 }
 
 # compile the code with the intent of populating the cache
@@ -97,12 +76,12 @@ function build ()
 
   if [ "$(uname)" == "Linux" ]; then
     if (($(nproc) > 2)); then
-      make -j$(nproc)
+      cmake --build build -j4
     else
-      make -j2
+      cmake --build build -j2
     fi
   elif [ "$(uname)" == "Darwin" ]; then
-    make -j$(sysctl -n hw.physicalcpu)
+    cmake --build build -j$(sysctl -n hw.physicalcpu)
   fi
 
   finish
@@ -119,12 +98,12 @@ function test ()
   # Actual testing
   if [ "$(uname)" == "Linux" ]; then
     if (($(nproc) > 2)); then
-      make -j$(nproc) check
+      cmake --build build -j$(nproc) --target check
     else
-      make -j2 check
+      cmake --build build -j2 --target check
     fi
   elif [ "$(uname)" == "Darwin" ]; then
-    make -j$(sysctl -n hw.physicalcpu) check
+    cmake --build build -j$(sysctl -n hw.physicalcpu) --target check
   fi
 
   finish
@@ -138,4 +117,4 @@ case $1 in
   -t)
     test
     ;;
-esac
+esac