[Internal] Stability Tracking Issue

[ProfFan]

This is a mega-thread used for improving GTSAM's stability.

Currently resolving bugs found by the LLVM sanitizer, a.k.a. hunting leaks and use-after-frees with Clang's ASAN.

[ProfFan]

https://gist.github.com/ProfFan/0a753ea15de807dd58f28b7518fc1eb6

[ProfFan]

Note that we should have two things for improving stability:

• A fuzzer (afl or so) and a build machine that fuzz the library day after day
• A mechanism for detection of hidden memory leaks, for example, make the TEST macros run in a loop that does the test 1000 times, and observe the memory footprint. Current test suite runs in ~20s, so 1000*20=20000s=6h is pretty reasonable.

[dellaert]

Yowza. Let's talk tomorrow.

[ProfFan]

@dellaert Roger that

[ProfFan]

Aiming to have AddressSanitizer and LeakSanitizer in Travis and in Tests.

#121