Fix issues with grouped tests

.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

examples/Data/randomGrid3D.xml

@@ -7,7 +7,7 @@
 			<count>32</count>
 			<item_version>1</item_version>
 			<item class_id="3" tracking_level="0" version="1">
-				<px class_id="4" class_name="JacobianFactor" tracking_level="1" version="0" object_id="_0">
+				<px class_id="4" class_name="gtsam::JacobianFactor" tracking_level="1" version="0" object_id="_0">
 					<Base class_id="5" tracking_level="0" version="0">
 						<Base class_id="6" tracking_level="0" version="0">
 							<keys_>

examples/Data/toy3D.xml

@@ -7,7 +7,7 @@
 			<count>2</count>
 			<item_version>1</item_version>
 			<item class_id="3" tracking_level="0" version="1">
-				<px class_id="4" class_name="JacobianFactor" tracking_level="1" version="0" object_id="_0">
+				<px class_id="4" class_name="gtsam::JacobianFactor" tracking_level="1" version="0" object_id="_0">
 					<Base class_id="5" tracking_level="0" version="0">
 						<Base class_id="6" tracking_level="0" version="0">
 							<keys_>

gtsam/base/FastSet.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <boost/version.hpp>
 #if BOOST_VERSION >= 107400
 #include <boost/serialization/library_version_type.hpp>
 #endif

gtsam/base/serializationTestHelpers.h

@@ -42,7 +42,7 @@ T create() {
 }
 
 // Creates or empties a folder in the build folder and returns the relative path
-boost::filesystem::path resetFilesystem(
+inline boost::filesystem::path resetFilesystem(
     boost::filesystem::path folder = "actual") {
   boost::filesystem::remove_all(folder);
   boost::filesystem::create_directory(folder);

gtsam/basis/tests/testChebyshev.cpp

@@ -25,9 +25,10 @@
 using namespace std;
 using namespace gtsam;
 
+namespace {
 auto model = noiseModel::Unit::Create(1);
-
 const size_t N = 3;
+}  // namespace
 
 //******************************************************************************
 TEST(Chebyshev, Chebyshev1) {

gtsam/basis/tests/testChebyshev2.cpp

@@ -27,9 +27,11 @@ using namespace std;
 using namespace gtsam;
 using namespace boost::placeholders;
 
+namespace {
 noiseModel::Diagonal::shared_ptr model = noiseModel::Unit::Create(1);
 
 const size_t N = 32;
+}  // namespace
 
 //******************************************************************************
 TEST(Chebyshev2, Point) {

gtsam/discrete/tests/testDecisionTree.cpp

@@ -17,17 +17,19 @@
  * @date    Jan 30, 2012
  */
 
-#include <boost/assign/std/vector.hpp>
-using namespace boost::assign;
-
-#include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/discrete/Signature.h>
-
 // #define DT_DEBUG_MEMORY
 // #define DT_NO_PRUNING
 #define DISABLE_DOT
 #include <gtsam/discrete/DecisionTree-inl.h>
+
+#include <gtsam/base/Testable.h>
+#include <gtsam/discrete/Signature.h>
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/assign/std/vector.hpp>
+using namespace boost::assign;
+
 using namespace std;
 using namespace gtsam;
 
@@ -148,9 +150,9 @@ TEST(DecisionTree, example) {
   DOT(notb);
 
   // Check supplying empty trees yields an exception
-  CHECK_EXCEPTION(apply(empty, &Ring::id), std::runtime_error);
-  CHECK_EXCEPTION(apply(empty, a, &Ring::mul), std::runtime_error);
-  CHECK_EXCEPTION(apply(a, empty, &Ring::mul), std::runtime_error);
+  CHECK_EXCEPTION(gtsam::apply(empty, &Ring::id), std::runtime_error);
+  CHECK_EXCEPTION(gtsam::apply(empty, a, &Ring::mul), std::runtime_error);
+  CHECK_EXCEPTION(gtsam::apply(a, empty, &Ring::mul), std::runtime_error);
 
   // apply, two nodes, in natural order
   DT anotb = apply(a, notb, &Ring::mul);

gtsam/discrete/tests/testDecisionTreeFactor.cpp

@@ -107,7 +107,7 @@ TEST(DecisionTreeFactor, enumerate) {
 }
 
 /* ************************************************************************* */
-TEST(DiscreteFactorGraph, DotWithNames) {
+TEST(DecisionTreeFactor, DotWithNames) {
   DiscreteKey A(12, 3), B(5, 2);
   DecisionTreeFactor f(A & B, "1 2  3 4  5 6");
   auto formatter = [](Key key) { return key == 12 ? "A" : "B"; };

gtsam/geometry/PinholeCamera.h

@@ -230,13 +230,15 @@ class GTSAM_EXPORT PinholeCamera: public PinholeBaseK<Calibration> {
   Point2 _project2(const POINT& pw, OptionalJacobian<2, dimension> Dcamera,
       OptionalJacobian<2, FixedDimension<POINT>::value> Dpoint) const {
     // We just call 3-derivative version in Base
-    Matrix26 Dpose;
-    Eigen::Matrix<double, 2, DimK> Dcal;
-    Point2 pi = Base::project(pw, Dcamera ? &Dpose : 0, Dpoint,
-        Dcamera ? &Dcal : 0);
-    if (Dcamera)
+    if (Dcamera){
+      Matrix26 Dpose;
+      Eigen::Matrix<double, 2, DimK> Dcal;
+      const Point2 pi = Base::project(pw, Dpose, Dpoint, Dcal);
       *Dcamera << Dpose, Dcal;
-    return pi;
+      return pi;
+    } else {
+      return Base::project(pw, boost::none, Dpoint, boost::none);
+    }
   }
 
   /// project a 3D point from world coordinates into the image

gtsam/geometry/tests/testCal3Bundler.cpp

@@ -160,7 +160,7 @@ TEST(Cal3Bundler, retract) {
 }
 
 /* ************************************************************************* */
-TEST(Cal3_S2, Print) {
+TEST(Cal3Bundler, Print) {
   Cal3Bundler cal(1, 2, 3, 4, 5);
   std::stringstream os;
   os << "f: " << cal.fx() << ", k1: " << cal.k1() << ", k2: " << cal.k2()

gtsam/geometry/tests/testPose2.cpp

@@ -796,44 +796,39 @@ TEST(Pose2, align_4) {
 }
 
 //******************************************************************************
+namespace {
+Pose2 id;
 Pose2 T1(M_PI / 4.0, Point2(sqrt(0.5), sqrt(0.5)));
 Pose2 T2(M_PI / 2.0, Point2(0.0, 2.0));
+}  // namespace
 
 //******************************************************************************
-TEST(Pose2 , Invariants) {
-  Pose2 id;
-
-  EXPECT(check_group_invariants(id,id));
-  EXPECT(check_group_invariants(id,T1));
-  EXPECT(check_group_invariants(T2,id));
-  EXPECT(check_group_invariants(T2,T1));
-
-  EXPECT(check_manifold_invariants(id,id));
-  EXPECT(check_manifold_invariants(id,T1));
-  EXPECT(check_manifold_invariants(T2,id));
-  EXPECT(check_manifold_invariants(T2,T1));
+TEST(Pose2, Invariants) {
+  EXPECT(check_group_invariants(id, id));
+  EXPECT(check_group_invariants(id, T1));
+  EXPECT(check_group_invariants(T2, id));
+  EXPECT(check_group_invariants(T2, T1));
 
+  EXPECT(check_manifold_invariants(id, id));
+  EXPECT(check_manifold_invariants(id, T1));
+  EXPECT(check_manifold_invariants(T2, id));
+  EXPECT(check_manifold_invariants(T2, T1));
 }
 
 //******************************************************************************
-TEST(Pose2 , LieGroupDerivatives) {
-  Pose2 id;
-
-  CHECK_LIE_GROUP_DERIVATIVES(id,id);
-  CHECK_LIE_GROUP_DERIVATIVES(id,T2);
-  CHECK_LIE_GROUP_DERIVATIVES(T2,id);
-  CHECK_LIE_GROUP_DERIVATIVES(T2,T1);
-
+TEST(Pose2, LieGroupDerivatives) {
+  CHECK_LIE_GROUP_DERIVATIVES(id, id);
+  CHECK_LIE_GROUP_DERIVATIVES(id, T2);
+  CHECK_LIE_GROUP_DERIVATIVES(T2, id);
+  CHECK_LIE_GROUP_DERIVATIVES(T2, T1);
 }
 
 //******************************************************************************
-TEST(Pose2 , ChartDerivatives) {
-  Pose2 id;
-
-  CHECK_CHART_DERIVATIVES(id,id);
-  CHECK_CHART_DERIVATIVES(id,T2);
-  CHECK_CHART_DERIVATIVES(T2,id);
-  CHECK_CHART_DERIVATIVES(T2,T1);
+TEST(Pose2, ChartDerivatives) {
+  CHECK_CHART_DERIVATIVES(id, id);
+  CHECK_CHART_DERIVATIVES(id, T2);
+  CHECK_CHART_DERIVATIVES(T2, id);
+  CHECK_CHART_DERIVATIVES(T2, T1);
 }
 
 //******************************************************************************

gtsam/geometry/tests/testQuaternion.cpp

@@ -80,12 +80,6 @@ TEST(Quaternion , Compose) {
   EXPECT(traits<Q>::Equals(expected, actual));
 }
 
-//******************************************************************************
-Vector3 Q_z_axis(0, 0, 1);
-Q id(Eigen::AngleAxisd(0, Q_z_axis));
-Q R1(Eigen::AngleAxisd(1, Q_z_axis));
-Q R2(Eigen::AngleAxisd(2, Vector3(0, 1, 0)));
-
 //******************************************************************************
 TEST(Quaternion , Between) {
   Vector3 z_axis(0, 0, 1);
@@ -108,7 +102,15 @@ TEST(Quaternion , Inverse) {
 }
 
 //******************************************************************************
-TEST(Quaternion , Invariants) {
+namespace {
+Vector3 Q_z_axis(0, 0, 1);
+Q id(Eigen::AngleAxisd(0, Q_z_axis));
+Q R1(Eigen::AngleAxisd(1, Q_z_axis));
+Q R2(Eigen::AngleAxisd(2, Vector3(0, 1, 0)));
+}  // namespace
+
+//******************************************************************************
+TEST(Quaternion, Invariants) {
   EXPECT(check_group_invariants(id, id));
   EXPECT(check_group_invariants(id, R1));
   EXPECT(check_group_invariants(R2, id));
@@ -121,15 +123,15 @@ TEST(Quaternion , Invariants) {
 }
 
 //******************************************************************************
-TEST(Quaternion , LieGroupDerivatives) {
+TEST(Quaternion, LieGroupDerivatives) {
   CHECK_LIE_GROUP_DERIVATIVES(id, id);
   CHECK_LIE_GROUP_DERIVATIVES(id, R2);
   CHECK_LIE_GROUP_DERIVATIVES(R2, id);
   CHECK_LIE_GROUP_DERIVATIVES(R2, R1);
 }
 
 //******************************************************************************
-TEST(Quaternion , ChartDerivatives) {
+TEST(Quaternion, ChartDerivatives) {
   CHECK_CHART_DERIVATIVES(id, id);
   CHECK_CHART_DERIVATIVES(id, R2);
   CHECK_CHART_DERIVATIVES(R2, id);

gtsam/geometry/tests/testRot2.cpp

@@ -156,44 +156,39 @@ TEST( Rot2, relativeBearing )
 }
 
 //******************************************************************************
+namespace {
+Rot2 id;
 Rot2 T1(0.1);
 Rot2 T2(0.2);
+}  // namespace
 
 //******************************************************************************
-TEST(Rot2 , Invariants) {
-  Rot2 id;
-
-  EXPECT(check_group_invariants(id,id));
-  EXPECT(check_group_invariants(id,T1));
-  EXPECT(check_group_invariants(T2,id));
-  EXPECT(check_group_invariants(T2,T1));
-
-  EXPECT(check_manifold_invariants(id,id));
-  EXPECT(check_manifold_invariants(id,T1));
-  EXPECT(check_manifold_invariants(T2,id));
-  EXPECT(check_manifold_invariants(T2,T1));
-
+TEST(Rot2, Invariants) {
+  EXPECT(check_group_invariants(id, id));
+  EXPECT(check_group_invariants(id, T1));
+  EXPECT(check_group_invariants(T2, id));
+  EXPECT(check_group_invariants(T2, T1));
+
+  EXPECT(check_manifold_invariants(id, id));
+  EXPECT(check_manifold_invariants(id, T1));
+  EXPECT(check_manifold_invariants(T2, id));
+  EXPECT(check_manifold_invariants(T2, T1));
 }
 
 //******************************************************************************
-TEST(Rot2 , LieGroupDerivatives) {
-  Rot2 id;
-
-  CHECK_LIE_GROUP_DERIVATIVES(id,id);
-  CHECK_LIE_GROUP_DERIVATIVES(id,T2);
-  CHECK_LIE_GROUP_DERIVATIVES(T2,id);
-  CHECK_LIE_GROUP_DERIVATIVES(T2,T1);
-
+TEST(Rot2, LieGroupDerivatives) {
+  CHECK_LIE_GROUP_DERIVATIVES(id, id);
+  CHECK_LIE_GROUP_DERIVATIVES(id, T2);
+  CHECK_LIE_GROUP_DERIVATIVES(T2, id);
+  CHECK_LIE_GROUP_DERIVATIVES(T2, T1);
 }
 
 //******************************************************************************
-TEST(Rot2 , ChartDerivatives) {
-  Rot2 id;
-
-  CHECK_CHART_DERIVATIVES(id,id);
-  CHECK_CHART_DERIVATIVES(id,T2);
-  CHECK_CHART_DERIVATIVES(T2,id);
-  CHECK_CHART_DERIVATIVES(T2,T1);
+TEST(Rot2, ChartDerivatives) {
+  CHECK_CHART_DERIVATIVES(id, id);
+  CHECK_CHART_DERIVATIVES(id, T2);
+  CHECK_CHART_DERIVATIVES(T2, id);
+  CHECK_CHART_DERIVATIVES(T2, T1);
 }
 
 /* ************************************************************************* */