Merge pull request #1167 from borglab/release/4.2a6

Finish release 4.2a6

Author: ProfFan

.github/scripts/unix.sh

@@ -71,6 +71,7 @@ function configure()
       -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
@@ -95,7 +96,11 @@ function build ()
   configure
 
   if [ "$(uname)" == "Linux" ]; then
-    make -j$(nproc)
+    if (($(nproc) > 2)); then
+      make -j$(nproc)
+    else
+      make -j2
+    fi
   elif [ "$(uname)" == "Darwin" ]; then
     make -j$(sysctl -n hw.physicalcpu)
   fi
@@ -113,7 +118,11 @@ function test ()
 
   # Actual testing
   if [ "$(uname)" == "Linux" ]; then
-    make -j$(nproc) check
+    if (($(nproc) > 2)); then
+      make -j$(nproc) check
+    else
+      make -j2 check
+    fi
   elif [ "$(uname)" == "Darwin" ]; then
     make -j$(sysctl -n hw.physicalcpu) check
   fi

.github/workflows/build-windows.yml

@@ -48,7 +48,9 @@ jobs:
       - name: Install Dependencies
         shell: powershell
         run: |
-          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          iwr -useb get.scoop.sh -outfile 'install_scoop.ps1'
+          .\install_scoop.ps1 -RunAsAdmin
+
           scoop install cmake --global  # So we don't get issues with CMP0074 policy
           scoop install ninja --global
 
@@ -106,6 +108,21 @@ jobs:
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+
+          # Run GTSAM tests
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
           cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+
+          # Run GTSAM_UNSTABLE tests
+          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          

CMakeLists.txt

@@ -1,4 +1,3 @@
-project(GTSAM CXX C)
 cmake_minimum_required(VERSION 3.0)
 
 # new feature to Cmake Version > 2.8.12
@@ -11,14 +10,19 @@ endif()
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 2)
 set (GTSAM_VERSION_PATCH 0)
-set (GTSAM_PRERELEASE_VERSION "a5")
+set (GTSAM_PRERELEASE_VERSION "a6")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (${GTSAM_VERSION_PATCH} EQUAL 0)
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
 else()
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}${GTSAM_PRERELEASE_VERSION}")
 endif()
+
+project(GTSAM
+        LANGUAGES CXX C
+        VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+
 message(STATUS "GTSAM Version: ${GTSAM_VERSION_STRING}")
 
 set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})

DEVELOP.md

@@ -15,7 +15,7 @@ For example:
 ```cpp
 class GTSAM_EXPORT MyClass { ... };
 
-GTSAM_EXPORT myFunction();
+GTSAM_EXPORT return_type myFunction();
 ```
 
 More details [here](Using-GTSAM-EXPORT.md).

INSTALL.md

@@ -13,7 +13,7 @@ $ make install
 ## Important Installation Notes
 
 1. GTSAM requires the following libraries to be installed on your system:
-    - BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes).
+    - BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes) for version recommendations based on your compiler.
 
     - Cmake version 3.0 or higher
     - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
@@ -72,7 +72,7 @@ execute commands as follows for an out-of-source build:
 Versions of Boost prior to 1.65 have a known bug that prevents proper "deep" serialization of objects, which means that objects encapsulated inside other objects don't get serialized.
 This is particularly seen when using `clang` as the C++ compiler.
 
-For this reason we require Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
+For this reason we recommend Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
 
 ## Known Issues
 

Using-GTSAM-EXPORT.md

@@ -8,6 +8,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need
     * At least one of the functions inside that class is declared in a .cpp file and not just the .h file.
     * You can `GTSAM_EXPORT` any class it inherits from as well.  (Note that this implictly requires the class does not derive from a "header-only" class.  Note that Eigen is a "header-only" library, so if your class derives from Eigen, _do not_ use `GTSAM_EXPORT` in the class definition!) 
 3.  If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations.  (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.)
+4. For template specializations, you need to add `GTSAM_EXPORT` to each individual specialization.
 
 ## When is GTSAM_EXPORT being used incorrectly
 Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library.  For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself.  The most common errors will say something like:

cmake/GtsamBuildTypes.cmake

@@ -93,6 +93,10 @@ if(MSVC)
 	/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
   )
 
+  add_compile_options(/wd4005)
+  add_compile_options(/wd4101)
+  add_compile_options(/wd4834)
+
 endif()
 
 # Other (non-preprocessor macros) compiler flags:
@@ -187,7 +191,7 @@ endif()
 
 if (NOT MSVC)
   option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
-  if(GTSAM_BUILD_WITH_MARCH_NATIVE)
+  if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
     # Add as public flag so all dependant projects also use it, as required
     # by Eigen to avid crashes due to SIMD vectorization:
     list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

cmake/HandleMetis.cmake

@@ -21,7 +21,12 @@ if(GTSAM_USE_SYSTEM_METIS)
     mark_as_advanced(METIS_LIBRARY)
 
     add_library(metis-gtsam-if INTERFACE)
-    target_include_directories(metis-gtsam-if BEFORE INTERFACE ${METIS_INCLUDE_DIR})
+    target_include_directories(metis-gtsam-if BEFORE INTERFACE ${METIS_INCLUDE_DIR}
+      # gtsam_unstable/partition/FindSeparator-inl.h uses internal metislib.h API
+      # via extern "C"
+      $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
+      $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
+    )
     target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY})
   endif()
 else()
@@ -30,10 +35,12 @@ else()
   add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis)
 
   target_include_directories(metis-gtsam BEFORE PUBLIC
+    $<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
     $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/include>
+    # gtsam_unstable/partition/FindSeparator-inl.h uses internal metislib.h API
+    # via extern "C"
     $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
     $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
-    $<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
   )
 
   add_library(metis-gtsam-if INTERFACE)

doc/Code/LocalizationExample2.cpp

@@ -1,7 +1,7 @@
 // add unary measurement factors, like GPS, on all three poses
-noiseModel::Diagonal::shared_ptr unaryNoise =
+auto unaryNoise =
  noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
-graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
-graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
-graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
+graph.emplace_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise);
+graph.emplace_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise);
+graph.emplace_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise);
 

doc/Code/LocalizationFactor.cpp

@@ -1,13 +1,12 @@
 class UnaryFactor: public NoiseModelFactor1<Pose2> {
   double mx_, my_; ///< X and Y measurements
-
+  
 public:
   UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
     NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
 
-  Vector evaluateError(const Pose2& q,
-                       boost::optional<Matrix&> H = boost::none) const
-  {
+  Vector evaluateError(const Pose2& q, 
+      boost::optional<Matrix&> H = boost::none) const override {
     const Rot2& R = q.rotation();
     if (H) (*H) = (gtsam::Matrix(2, 3) <<
             R.c(), -R.s(), 0.0,