Merge pull request #1198 from borglab/release/4.2a7

Author: dellaert

.gitignore

@@ -17,3 +17,5 @@
 # for QtCreator:
 CMakeLists.txt.user*
 xcode/
+/Dockerfile
+/python/gtsam/notebooks/.ipynb_checkpoints/ellipses-checkpoint.ipynb

CMakeLists.txt

@@ -10,7 +10,7 @@ endif()
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 2)
 set (GTSAM_VERSION_PATCH 0)
-set (GTSAM_PRERELEASE_VERSION "a6")
+set (GTSAM_PRERELEASE_VERSION "a7")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (${GTSAM_VERSION_PATCH} EQUAL 0)

cmake/HandlePython.cmake

@@ -16,6 +16,7 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
 
       set(Python_VERSION_MAJOR ${PYTHON_VERSION_MAJOR})
       set(Python_VERSION_MINOR ${PYTHON_VERSION_MINOR})
+      set(Python_VERSION_PATCH ${PYTHON_VERSION_PATCH})
       set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
 
     else()
@@ -31,11 +32,12 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
 
       set(Python_VERSION_MAJOR ${Python3_VERSION_MAJOR})
       set(Python_VERSION_MINOR ${Python3_VERSION_MINOR})
+      set(Python_VERSION_PATCH ${Python3_VERSION_PATCH})
 
     endif()
 
     set(GTSAM_PYTHON_VERSION
-        "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}"
+        "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}.${Python_VERSION_PATCH}"
         CACHE STRING "The version of Python to build the wrappers against."
               FORCE)
 

gtsam/base/OptionalJacobian.h

@@ -20,6 +20,8 @@
 #pragma once
 #include <gtsam/config.h>      // Configuration from CMake
 #include <Eigen/Dense>
+#include <stdexcept>
+#include <string>
 
 #ifndef OPTIONALJACOBIAN_NOBOOST
 #include <boost/optional.hpp>
@@ -96,6 +98,24 @@ class OptionalJacobian {
     usurp(dynamic->data());
   }
 
+  /**
+   * @brief Constructor from an Eigen::Ref *value*. Will not usurp if dimension is wrong
+   * @note This is important so we don't overwrite someone else's memory!
+   */
+  template<class MATRIX>
+  OptionalJacobian(Eigen::Ref<MATRIX> dynamic_ref) :
+      map_(nullptr) {
+    if (dynamic_ref.rows() == Rows && dynamic_ref.cols() == Cols && !dynamic_ref.IsRowMajor) {
+      usurp(dynamic_ref.data());
+    } else {
+      throw std::invalid_argument(
+          std::string("OptionalJacobian called with wrong dimensions or "
+                      "storage order.\n"
+                      "Expected: ") +
+          "(" + std::to_string(Rows) + ", " + std::to_string(Cols) + ")");
+    }
+  }
+
 #ifndef OPTIONALJACOBIAN_NOBOOST
 
   /// Constructor with boost::none just makes empty

gtsam/discrete/AlgebraicDecisionTree.h

@@ -160,7 +160,7 @@ namespace gtsam {
               const typename Base::LabelFormatter& labelFormatter =
                   &DefaultFormatter) const {
       auto valueFormatter = [](const double& v) {
-        return (boost::format("%4.4g") % v).str();
+        return (boost::format("%4.8g") % v).str();
       };
       Base::print(s, labelFormatter, valueFormatter);
     }