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Release version 4.0.2 #119

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merged 210 commits into from
Sep 19, 2019
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6c59273
Clear and functional
dellaert Jan 4, 2019
968c0c0
Use test namespace
dellaert Jan 4, 2019
80a42fe
Reflect name of actual Factor
dellaert Jan 4, 2019
67f3b51
Clean up
dellaert Jan 4, 2019
737d369
Added test with transform
dellaert Jan 6, 2019
ef8cddd
Added handy NavState expressions
dellaert May 30, 2019
c1c456b
Merge pull request #32 from borglab/feature/navigation_expressions
dellaert May 30, 2019
0e309ba
Make test with hard constraints
dellaert May 28, 2019
184324a
Check exception type
varunagrawal May 30, 2019
6393fe2
Merge pull request #33 from borglab/feature/throwIfInfeasible
dellaert May 31, 2019
0a6cfe4
Add travis CI
jlblancoc May 31, 2019
f52c69b
fix wrong logic
jlblancoc May 31, 2019
72296f7
added clickable link to optimization notes
varunagrawal May 31, 2019
c13bd50
improved notes on trust region methods, corrected update rule as per …
varunagrawal May 31, 2019
c55f5b4
new pdf based on updated lyx file for trustregion methods
varunagrawal May 31, 2019
b167355
updated README to nicer Markdown, added links to papers for convenien…
varunagrawal May 31, 2019
775e505
Merge pull request #37 from borglab/feature/readme-update
dellaert May 31, 2019
8906fa8
Merge branch 'add-travis-ci' of https://github.com/jlblancoc/gtsam in…
jlblancoc Jun 1, 2019
d365b42
Merge branch 'jlblancoc-add-travis-ci' into develop
jlblancoc Jun 1, 2019
cc4bc45
Ensure users do not mix up Eigen versions
jlblancoc May 29, 2019
14ffecb
removed shortcut notation in trust-region formula
varunagrawal Jun 1, 2019
3af1de2
removed bdsk entries from bib file
varunagrawal Jun 1, 2019
e439629
Merge pull request #36 from borglab/feature/trustregion-doc
dellaert Jun 1, 2019
da1b7f9
Modernized enable_if, re-grouped methods to add factors
dellaert Jun 1, 2019
495a840
New add_factors method
dellaert Jun 1, 2019
e7f4169
Removed stale assert
dellaert Jun 1, 2019
bf904f9
moved gradientAtZero helper to clique class, where it belongs
dellaert May 31, 2019
0a95ac2
Removed useless typedef, add empty()
dellaert May 31, 2019
26f96f7
added timing
dellaert May 31, 2019
5f8a00f
made Roots type public
dellaert May 31, 2019
1a29ab5
Refactored iSAM2::update to reveal what is changed when
dellaert May 31, 2019
5a81964
Fixed print when no noise model
dellaert Jun 1, 2019
ecacda6
Further refactored pushNewFactors
dellaert Jun 1, 2019
4b40572
Get rid of deprecated LieScalar
dellaert Jun 1, 2019
42b5f81
Now using add_factors
dellaert Jun 1, 2019
696d807
Removed unusedIndices
dellaert Jun 2, 2019
8b01b81
Split up relinearize again for clarity
dellaert Jun 2, 2019
38d59ee
Split recalculate for clarity
dellaert Jun 2, 2019
1757198
Moved recalculate back to iSAM2.cpp
dellaert Jun 2, 2019
51fb1b6
Merge pull request #40 from borglab/feature/factor_graph_update
dellaert Jun 2, 2019
823c8bd
Merge pull request #28 from jlblancoc/ensure_equal_eigen_version
chrisbeall Jun 2, 2019
ab8b2f5
-march=native is not for MSVC
jlblancoc Jun 2, 2019
b36dc08
Nicer grouping in IDE "folders"
jlblancoc Jun 2, 2019
5db7562
Use more direct configuration of cmake, disable unstable for gcc tests
dellaert Jun 2, 2019
1dedbe6
Fix typo
dellaert Jun 2, 2019
2382d95
Re-enabled rest of matrix
dellaert Jun 2, 2019
b06e5f0
Install ccache on OSX and add GTSAM_BUILD_WITH_CCACHE flag to cmake
dellaert Jun 2, 2019
ea63adf
Another typo :-(
dellaert Jun 2, 2019
a1daa16
Add ccache stats
dellaert Jun 2, 2019
1e663a3
Removed brew update and gcc build on mac
dellaert Jun 3, 2019
0d731e9
Disable brew update
dellaert Jun 3, 2019
228ac65
Merge pull request #45 from borglab/fix/travis_timeout
dellaert Jun 3, 2019
3b51bae
made markedKeys explicit
dellaert Jun 2, 2019
a9e955d
using rather than typedef
dellaert Jun 3, 2019
6223339
made gatherInvolvedKeys more explicit
dellaert Jun 3, 2019
3ab9a1e
Made detail handling more explicit in update
dellaert Jun 3, 2019
6f7e92a
Make error calculation concise
dellaert Jun 3, 2019
18553fe
Recalculate now removes top
dellaert Jun 3, 2019
a308551
Deprecated non-const reference arguments in BayesTree and iSAM.h
dellaert Jun 3, 2019
d385c1e
Merge remote-tracking branch 'origin/fix/Bayestree_in_out' into featu…
dellaert Jun 3, 2019
ebae189
Re-ordered functions to minimize diff
dellaert Jun 3, 2019
161e363
Merge pull request #46 from borglab/fix/Bayestree_in_out
dellaert Jun 3, 2019
d18795e
Some last cosmetic changes to make update fit on single screen
dellaert Jun 3, 2019
5667c6f
Merge remote-tracking branch 'origin/develop' into feature/iSAM2_refa…
dellaert Jun 3, 2019
e9d2f87
Merge pull request #42 from borglab/feature/iSAM2_refactor
dellaert Jun 4, 2019
f2e3e81
Merge pull request #44 from borglab/minor_msvc_fixes
dellaert Jun 4, 2019
ac49bd0
Fixed a number of deprecated instances....
dellaert Jun 4, 2019
f27964a
Deprecated OFF by default, one new clang run for deprecated ON
dellaert Jun 4, 2019
46331dd
Merge pull request #47 from borglab/fix/bayesTree
dellaert Jun 4, 2019
b1a30ff
wrap printErrors
dellaert Jun 4, 2019
8469ec1
Merge pull request #48 from borglab/feature/wrap_printErrorrs
dellaert Jun 5, 2019
314b617
Updated build status link
dellaert Jun 6, 2019
78ef134
Travis stages
dellaert Jun 6, 2019
703c705
Full matrix, including OSX
dellaert Jun 6, 2019
a30d196
Add OSX to compile
dellaert Jun 6, 2019
334721d
Merge pull request #49 from borglab/feature/stage_travis
dellaert Jun 7, 2019
308e6aa
Global env variables
dellaert Jun 9, 2019
3a85be2
provide
jlblancoc Jun 10, 2019
7cee39f
Always run in debug mode
dellaert Jun 10, 2019
2c7389d
add command `make check_valgrind`
jlblancoc Jun 10, 2019
96fe047
Removed redundant flags.
dellaert Jun 10, 2019
502bf7c
Test both Debug and Release
dellaert Jun 10, 2019
2ac505f
Add Debug/Release in compile stage as well
dellaert Jun 10, 2019
b51e89c
Merge pull request #56 from borglab/feature/travis_global
dellaert Jun 11, 2019
2d67ade
targets renamed: xxx.valgrind
jlblancoc Jun 11, 2019
05e8fbc
re-indent: script had an inconsistent mix of tabs and spaces
jlblancoc Jun 11, 2019
fc10e7c
Merge pull request #52 from jlblancoc/add_uninstall
dellaert Jun 11, 2019
4e19ba4
Merge pull request #54 from jlblancoc/add_make_check_valgrind
dellaert Jun 11, 2019
07b6704
Fixed exception type for TBB path
dellaert Jun 11, 2019
9d52dea
added inline keywords to new functions introduced in PR #32
varunagrawal Jun 11, 2019
8e13655
Merge pull request #60 from borglab/feature/inline-navigation-express…
dellaert Jun 11, 2019
87ab40d
Merge pull request #59 from borglab/fix/41_tbb_issue
dellaert Jun 11, 2019
692959f
Fix for issue #38 (gcc specific issue, but fix works for all)
dellaert Jun 2, 2019
30644e9
Fix file handling (removed absolute paths)
dellaert Jun 2, 2019
c007c77
Duplicate measurements are disallowed -> leads to duplicate keys in J…
dellaert Jun 9, 2019
6bcbfe2
Tightened odometry sigmas to avoid ILS
dellaert Jun 9, 2019
f09d118
Use command line argument for script so that cache names are not poll…
dellaert Jun 12, 2019
f2b3497
exclude clang on linux
dellaert Jun 12, 2019
e61ce98
Fix syntax error, add comment mentioning issue #57
dellaert Jun 12, 2019
6f5e332
Reduced time to run very slow testScenario by reducing sample count f…
dellaert Jun 12, 2019
d102a22
Reduced time for ImuFactor tests
dellaert Jun 12, 2019
5b686d3
Fixed warning
dellaert Jun 12, 2019
225bd36
Turned off timing
dellaert Jun 12, 2019
7619ae2
Unstable will not be built or tested in Debug mode: takes too long.
dellaert Jun 12, 2019
59369b2
Merge pull request #61 from borglab/fix/travis_cache
dellaert Jun 12, 2019
39e08c9
fix warning
jlblancoc Jun 12, 2019
5017f3e
Merge remote-tracking branch 'origin/develop' into fix/38_SmartRangeE…
dellaert Jun 12, 2019
2823595
Merge pull request #64 from borglab/fix/38_SmartRangeExamples-2
dellaert Jun 13, 2019
e75c3ba
remove old, obsolete files
varunagrawal Jun 13, 2019
7395cdd
typecast to size_t to remove build warnings
varunagrawal Jun 13, 2019
e72b42b
make all top level docs as markdown files
varunagrawal Jun 13, 2019
b829239
renamed all READMEs to README.md and updated markdown syntax
varunagrawal Jun 13, 2019
0448c4a
added blank github issue template
varunagrawal Jun 13, 2019
7b41007
print key_values in order
Jun 14, 2019
87614cd
github issue templates conforming to new workflow
varunagrawal Jun 14, 2019
a184246
moved templates from .github to .github/ISSUE_TEMPLATE
varunagrawal Jun 14, 2019
9ac72a0
overload operator <<, and add unittest
Jun 14, 2019
6c665b8
Streaming Key values with a custom formatter
dellaert Jun 14, 2019
4e27130
Streaming for Symbols
dellaert Jun 14, 2019
86b4be3
Streaming for LabeledSymbols
dellaert Jun 14, 2019
5ba9193
fix issues according to pr comments
Jun 14, 2019
8e9aa97
use map::emplace instead of insert
Jun 14, 2019
c087dd3
delete make_pair
Jun 14, 2019
0fc812f
Missing DLL export macros
jlblancoc Jun 15, 2019
bf20ec9
cmake: fix unset variable for MSVC
jlblancoc Jun 15, 2019
89f8f50
T made non-const for MSVC2017 to build
jlblancoc Jun 15, 2019
ba91bd5
Add better error reporting
dellaert Jun 15, 2019
01ce036
Excluded build that consistently times out
dellaert Jun 13, 2019
0bfc824
Merge pull request #71 from borglab/feature/wrap_errors
dellaert Jun 15, 2019
da09428
Merge pull request #67 from borglab/feature/housekeeping
dellaert Jun 15, 2019
876475a
Restored default deltaInit to 1.0 to resolve issue #9
dellaert Jun 15, 2019
6d8ef99
Merge pull request #72 from borglab/fix/9_dogleg_initial_delta
dellaert Jun 15, 2019
391d8b9
Merge pull request #70 from jlblancoc/fix_msvc
jlblancoc Jun 15, 2019
ae79c27
fix unused parameter warning
jlblancoc Jun 8, 2019
7f43054
Refactor build flags via CMake target properties
jlblancoc May 29, 2019
f04a636
Merge pull request #69 from borglab/feature/streaming_keys
dellaert Jun 15, 2019
0a6fecd
fix cmake warning
jlblancoc Jun 16, 2019
4207560
Merge pull request #65 from jlblancoc/new_cmake_flags_v2
dellaert Jun 16, 2019
45244d3
move cout string to print function
Jun 16, 2019
4ed069e
Merge branch 'develop' into feature/VectorValuePrint
Jun 16, 2019
addbfe8
use key_formatter in print function
Jun 16, 2019
5785295
Merge pull request #68 from borglab/feature/VectorValuePrint
dellaert Jun 16, 2019
bc16290
Main CMakeLists.txt edit
varunagrawal Jun 12, 2019
4f5d13f
GtsamCythonWrap.cmake update
varunagrawal Jun 12, 2019
914ea4c
install gtsam_eigency to the correct cython directory
varunagrawal Jun 12, 2019
2071aa7
update to setup.py install check to account for build type
varunagrawal Jun 12, 2019
162d748
[ci skip] Added free function to check if compiled library is debug v…
varunagrawal Jun 12, 2019
37aa167
[ci skip] added comment and formatting for isDebugVersion
varunagrawal Jun 13, 2019
266dff0
Merge pull request #63 from borglab/feature/cython-wrapper-release-mode
dellaert Jun 18, 2019
c572a14
Fix more CMake errors for MSVC builds
jlblancoc Jun 20, 2019
8373d45
Merge pull request #77 from borglab/fix/more-cmake-msvc-errors
dellaert Jun 21, 2019
e3b4b5f
Allow Eigen versions of different patch number
jlblancoc Jun 22, 2019
c6449a8
Merge pull request #79 from borglab/less-strict-eigen-version-check
chrisbeall Jun 24, 2019
090994a
propagate exceptions from global functions from cpp to python
varunagrawal Jul 10, 2019
8632303
updated tests to work with new wrap code generation
varunagrawal Jul 10, 2019
64ead67
add minimal cmake-based user project template
jlblancoc Jun 22, 2019
325d4a6
add Debian scripts
jlblancoc Jun 19, 2019
2cf4514
Changes to get gtsam to compile in Windows
cntaylor Jul 9, 2019
f52db1e
undo whitespace changes
jlblancoc Jul 11, 2019
5384d20
Undo changes in CalibratedCamera
jlblancoc Jul 11, 2019
69c3eaf
Add NOMINMAX macro for MSVC via cmake
jlblancoc Jul 11, 2019
df6b98f
Merge pull request #83 from borglab/feature/py-exceptions
varunagrawal Jul 11, 2019
6dec8b1
fix cmake error with MATLAB
jlblancoc Jul 11, 2019
1ca0e33
Partial fix to MSVC Matlab builds
jlblancoc Jul 12, 2019
33bda1e
Resolved several MSVC compiling errors
cntaylor Jul 13, 2019
063cf72
Revert "Resolved several MSVC compiling errors" -- bring back Lie*
cntaylor Jul 14, 2019
44faca1
Fixed compilation issues for MSVC -- for real this time.
cntaylor Jul 14, 2019
ffb3043
More GTSAM_EXPORT fixes. This allows gtsam_unstable to compile
cntaylor Jul 14, 2019
0c3e05f
Merge pull request #78 from jlblancoc/debian-ppa
jlblancoc Jul 15, 2019
e28fb84
Added document explaining GTSAM_EXPORT usage rules
cntaylor Jul 15, 2019
a49ed61
Reducing errors in check* libraries when compiling
cntaylor Jul 16, 2019
393e9ed
Updated Using GTSAM_EXPORT document
cntaylor Jul 16, 2019
9f9cff4
Merge pull request #87 from cntaylor/msvc-fixes
jlblancoc Jul 18, 2019
52b0579
Consistent dllexport.h across gtsam & gtsam_unstable
jlblancoc Jul 18, 2019
438b4ff
more DLL warnings & errors fixed
jlblancoc Jul 18, 2019
ec04369
Merge pull request #85 from borglab/msvc-fixes
jlblancoc Jul 19, 2019
38e43ce
Added non-default const. for AHRS pre-int. and params
sandro-berchier Jul 28, 2019
04b9bf2
Remove redundant gyroCov param update in ctor
ToniRV Jul 30, 2019
56cc2b0
Use const& for input param
ToniRV Jul 30, 2019
162c9ab
Remove outdated comment
ToniRV Jul 30, 2019
3e83f00
Rename test_pim to actualPim
ToniRV Jul 30, 2019
6cdb69a
Merge pull request #93 from sandro-berchier/feature/pim_to_ahrs
dellaert Jul 31, 2019
05f24ed
cosmic distro is obsolete now
jlblancoc Jul 31, 2019
5397db0
Merge branch 'develop' into fix/smartFactors
dellaert Aug 7, 2019
214dca3
Fixed warning
dellaert Aug 7, 2019
0eef77f
Made code a bit more efficient in case of offset
dellaert Aug 8, 2019
20736b6
deprecated SmartProjectionFactor constructor with offset
dellaert Aug 8, 2019
66ca635
Generate PPA packages for Ubuntu 19.10 (eoan)
jlblancoc Aug 14, 2019
033a307
Merge pull request #105 from borglab/fix/smartFactors
mikesheffler Aug 27, 2019
2f8238a
Fixed spelling for Welsch and added to gtsam.h
Aug 29, 2019
87c336f
Added Welsch model to gtsam.h
Aug 29, 2019
f72322c
Added old code back wrapped in deprecated flag
Sep 2, 2019
02ee55f
Fix missing "t" typo
jlblancoc Sep 6, 2019
6b298fa
Merge pull request #109 from jlblancoc/develop
jlblancoc Sep 7, 2019
4949d69
Fix compilation of PartialPriorFactor
ProfFan Sep 7, 2019
b61636e
Fix segfault in SubgraphBuilder
ProfFan Sep 7, 2019
5cbcfda
Merge pull request #107 from fishyai/welsch_model
dellaert Sep 7, 2019
cb80f27
Restoring the correct behavior of UniqueSampler
ProfFan Sep 7, 2019
675f27b
Merge pull request #110 from borglab/fix/subgraphbuilder
dellaert Sep 8, 2019
7dc1811
add cmake flag to include eigen-unsupported module
varunagrawal Sep 12, 2019
a1583e0
Switched default to OFF
dellaert Sep 12, 2019
5e387d1
update to README to include link to READMEs of MATLAB and Python wrap…
varunagrawal Sep 16, 2019
d3305d2
Merge pull request #113 from borglab/features/docs-update
ProfFan Sep 18, 2019
ff1f37c
replaced fabs with c++11 std::abs
varunagrawal Sep 18, 2019
60f5ee7
added test for negative error in Huber Robust noise model
varunagrawal Sep 18, 2019
ba22688
compare absolute value of error against k for Huber noise model
varunagrawal Sep 18, 2019
813f169
improved code for Huber robust noise model
varunagrawal Sep 19, 2019
8212cb2
Merge pull request #112 from borglab/fix/eigen-unsupported
dellaert Sep 19, 2019
a614e5e
Merge pull request #115 from borglab/fix/absolute-value
dellaert Sep 19, 2019
19315cc
Merge pull request #116 from borglab/fix/huber-noise-model
ProfFan Sep 19, 2019
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Ensure users do not mix up Eigen versions
jlblancoc committed Jun 1, 2019
commit cc4bc458eb14d26d0bdc7073d869ff6a01de43ea
29 changes: 24 additions & 5 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -314,6 +314,29 @@ else()
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
endif()

# Detect Eigen version:
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)

# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...

string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")

string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")

string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")

set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")

message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
else()
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
endif ()

if (MSVC)
if (BUILD_SHARED_LIBS)
# mute eigen static assert to avoid errors in shared lib
@@ -499,11 +522,7 @@ if(NOT MSVC AND NOT XCODE_VERSION)
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
endif()
if(GTSAM_USE_SYSTEM_EIGEN)
message(STATUS " Use System Eigen : Yes")
else()
message(STATUS " Use System Eigen : No")
endif()
message(STATUS " Use System Eigen : ${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
if(GTSAM_USE_TBB)
message(STATUS " Use Intel TBB : Yes")
elseif(TBB_FOUND)
13 changes: 13 additions & 0 deletions gtsam/base/Vector.h
Original file line number Diff line number Diff line change
@@ -63,6 +63,19 @@ GTSAM_MAKE_VECTOR_DEFS(12);
typedef Eigen::VectorBlock<Vector> SubVector;
typedef Eigen::VectorBlock<const Vector> ConstSubVector;

/**
* Ensure we are not including a different version of Eigen in user code than
* while compiling gtsam, since it can lead to hard-to-understand runtime
* crashes.
*/
#if defined(GTSAM_EIGEN_VERSION_WORLD)
static_assert(
GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION &&
GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION &&
GTSAM_EIGEN_VERSION_MINOR==EIGEN_MINOR_VERSION,
"Error: GTSAM was built against a different version of Eigen");
#endif

/**
* print without optional string, must specify cout yourself
*/
6 changes: 6 additions & 0 deletions gtsam/config.h.in
Original file line number Diff line number Diff line change
@@ -52,6 +52,12 @@
// Whether Eigen with MKL will use OpenMP (if OpenMP was found, Eigen uses MKL, and GTSAM_WITH_EIGEN_MKL_OPENMP is enabled in CMake)
#cmakedefine GTSAM_USE_EIGEN_MKL_OPENMP

// Eigen library version (needed to avoid mixing versions, which often leads
// to segfaults)
#cmakedefine GTSAM_EIGEN_VERSION_WORLD @GTSAM_EIGEN_VERSION_WORLD@
#cmakedefine GTSAM_EIGEN_VERSION_MAJOR @GTSAM_EIGEN_VERSION_MAJOR@
#cmakedefine GTSAM_EIGEN_VERSION_MINOR @GTSAM_EIGEN_VERSION_MINOR@

// The default allocator to use
#cmakedefine GTSAM_ALLOCATOR_BOOSTPOOL
#cmakedefine GTSAM_ALLOCATOR_TBB