Merge branch 'master' into refactor/factor_constructor_arguments

borglab · Oct 18, 2023 · a97968c · a97968c
2 parents a197b37 + ea65f4a
commit a97968c
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Showing 479 changed files with 266,719 additions and 5,354 deletions.
diff --git a/.github/workflows/linux-ci.yml b/.github/workflows/linux-ci.yml
@@ -11,39 +11,40 @@ jobs:
       CTEST_OUTPUT_ON_FAILURE: ON
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
-      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+
     strategy:
       fail-fast: false
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [ubuntu-18.04-gcc-9, ubuntu-18.04-clang-9]
+        name: [ubuntu-20.04-gcc-9, ubuntu-20.04-clang-10]
 
         build_type: [Debug, Release]
-        build_unstable: [ON]
         include:
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-9
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-10
+            os: ubuntu-20.04
             compiler: clang
-            version: "9"
+            version: "10"
 
     steps:
       - name: Setup Compiler
         run: |
+          sudo apt-get -y clean && sudo apt-get -y update
+
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
             echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
 
           else
             sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
-            echo "CC=clang" >> $GITHUB_ENV
-            echo "CXX=clang++" >> $GITHUB_ENV
+            echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
           fi
 
       - name: Install Dependencies
@@ -53,17 +54,19 @@ jobs:
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
 
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat10-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev
+
+          # Install CppUnitLite.
+          git clone https://github.com/borglab/CppUnitLite.git
+          cd CppUnitLite && mkdir build && cd $_
+          cmake .. && sudo make -j4 install
+          cd ../../
 
       - name: GTSAM
         run: |
-          git clone https://github.com/borglab/gtsam.git
-          cd gtsam
-          mkdir build && cd build
-          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF ..
-          sudo make -j$(nproc) install
-          sudo ldconfig
-          cd ../../ # go back to home directory
+          sudo add-apt-repository -y ppa:borglab/gtsam-develop
+          sudo apt-get -y update
+          sudo apt-get -y install libgtsam-no-tbb-dev libgtsam-no-tbb-unstable-dev
 
       - name: Checkout
         uses: actions/checkout@master
@@ -73,7 +76,7 @@ jobs:
 
       - name: Configure
         run: |
-          cmake -DGTDYNAMICS_BUILD_PYTHON=OFF -DGTDYNAMICS_BUILD_CABLE_ROBOT=ON -DGTDYNAMICS_BUILD_JUMPING_ROBOT=ON ..
+          cmake -DGTDYNAMICS_BUILD_PYTHON=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
         working-directory: ./build
 
       - name: Build
@@ -83,3 +86,7 @@ jobs:
       - name: Test
         run: make -j$(nproc) check
         working-directory: ./build
+
+      - name: Install
+        run: sudo make -j$(nproc) install
+        working-directory: ./build
diff --git a/.github/workflows/macos-ci.yml b/.github/workflows/macos-ci.yml
@@ -17,15 +17,15 @@ jobs:
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [macOS-10.15-xcode-11.3.1]
+        name: [macOS-12-xcode-14.2]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-          - name: macOS-10.15-xcode-11.3.1
-            os: macOS-10.15
+          - name: macOS-12-xcode-14.2
+            os: macOS-12
             compiler: xcode
-            version: "11.3.1"
+            version: "14.2"
 
     steps:
       - name: Setup Compiler
@@ -44,16 +44,11 @@ jobs:
         run: |
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat10
+          brew install sdformat12
+          brew tap borglab/core
 
       - name: GTSAM
-        run: |
-          git clone https://github.com/borglab/gtsam.git
-          cd gtsam
-          mkdir build && cd build
-          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF ..
-          make -j$(sysctl -n hw.physicalcpu) install
-          cd ../../ # go back to home directory
+        run: brew install --HEAD gtsam@latest
 
       - name: Checkout
         uses: actions/checkout@v2
@@ -63,7 +58,7 @@ jobs:
 
       - name: Configure
         run: |
-          cmake -DGTDYNAMICS_BUILD_PYTHON=OFF -DGTDYNAMICS_BUILD_CABLE_ROBOT=ON -DGTDYNAMICS_BUILD_JUMPING_ROBOT=ON ..
+          cmake -DGTDYNAMICS_BUILD_PYTHON=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
         working-directory: ./build
 
       - name: Build
@@ -73,3 +68,7 @@ jobs:
       - name: Test
         run: make -j$(sysctl -n hw.physicalcpu) check
         working-directory: ./build
+
+      - name: Install
+        run: make -j$(sysctl -n hw.physicalcpu) install
+        working-directory: ./build
diff --git a/.github/workflows/python-ci.yml b/.github/workflows/python-ci.yml
@@ -18,38 +18,38 @@ jobs:
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name:
-          [ubuntu-18.04-gcc-9, ubuntu-18.04-clang-9, macOS-10.15-xcode-11.3.1]
+        name: [ubuntu-22.04-gcc-9, ubuntu-22.04-clang-12, macOS-12-xcode-14.2]
 
         build_type: [Debug, Release]
         python_version: [3]
         include:
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-22.04-gcc-9
+            os: ubuntu-22.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-22.04-clang-12
+            os: ubuntu-22.04
             compiler: clang
-            version: "9"
+            version: "12"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-22.04-clang-12
+            os: ubuntu-22.04
             compiler: clang
-            version: "9"
+            version: "12"
             build_type: Debug
             python_version: "3"
 
-          - name: macOS-10.15-xcode-11.3.1
-            os: macOS-10.15
+          - name: macOS-12-xcode-14.2
+            os: macOS-12
             compiler: xcode
-            version: "11.3.1"
+            version: "14.2"
 
     steps:
       - name: Install Dependencies (Linux)
         if: runner.os == 'Linux'
         run: |
+          sudo apt-get -y update
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
@@ -66,7 +66,7 @@ jobs:
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
 
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat10-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev
 
       - name: Install Dependencies (macOS)
         if: runner.os == 'macOS'
@@ -83,34 +83,41 @@ jobs:
 
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat10
+          brew install sdformat12
 
       - name: Python Dependencies
         run: |
           # Install dependencies for gtwrap
-          pip3 install -U setuptools numpy pyparsing
+          pip3 install -U pip setuptools numpy pyparsing pyyaml
 
       - name: GTSAM (Linux)
         if: runner.os == 'Linux'
         run: |
-          # Install gtsam
-          git clone https://github.com/borglab/gtsam.git /home/runner/work/gtsam
-          cd /home/runner/work/gtsam
+          # Clone gtsam
+          git clone https://github.com/borglab/gtsam.git $GITHUB_WORKSPACE/gtsam
+          cd $GITHUB_WORKSPACE/gtsam
+
+          # Build & Install gtsam
           mkdir build && cd $_
           cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON ..
           sudo make -j$(nproc) install && sudo make python-install
           sudo ldconfig
+
           cd $GITHUB_WORKSPACE # go back to home directory
 
+          # Clean up after ourselves since we used `sudo`.
+          sudo rm -rf $GITHUB_WORKSPACE/gtsam
+
       - name: GTSAM (macOS)
         if: runner.os == 'macOS'
         run: |
           # Install gtsam
-          git clone https://github.com/borglab/gtsam.git
-          cd gtsam
+          git clone https://github.com/borglab/gtsam.git /Users/runner/work/gtsam
+          cd /Users/runner/work/gtsam
           mkdir build && cd $_
-          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON ..
+          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
           make -j$(sysctl -n hw.physicalcpu) install && make python-install
+
           cd $GITHUB_WORKSPACE # go back to home directory
 
       - name: Checkout
@@ -119,9 +126,16 @@ jobs:
       - name: Build Directory
         run: mkdir build
 
-      - name: Configure
+      - name: Configure (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          cmake -DGTDYNAMICS_BUILD_PYTHON=ON  ..
+        working-directory: ./build
+
+      - name: Configure (macOS)
+        if: runner.os == 'macOS'
         run: |
-          cmake -DGTDYNAMICS_BUILD_PYTHON=ON -DGTDYNAMICS_BUILD_CABLE_ROBOT=ON -DGTDYNAMICS_BUILD_JUMPING_ROBOT=ON ..
+          cmake -DGTDYNAMICS_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
         working-directory: ./build
 
       - name: Build
@@ -131,3 +145,7 @@ jobs:
       - name: Test
         run: make -j4 python-test
         working-directory: ./build
+
+      - name: Install
+        run: sudo make -j4 python-install
+        working-directory: ./build
diff --git a/.gitignore b/.gitignore
@@ -10,7 +10,7 @@ __pycache__/
 
 # Distribution / packaging
 .Python
-build/
+build*/
 develop-eggs/
 dist/
 downloads/