diff --git a/DEVELOP.md b/DEVELOP.md index 133f3ea110..8604afe0f5 100644 --- a/DEVELOP.md +++ b/DEVELOP.md @@ -17,3 +17,5 @@ class GTSAM_EXPORT MyClass { ... }; GTSAM_EXPORT myFunction(); ``` + +More details [here](Using-GTSAM-EXPORT.md). diff --git a/INSTALL.md b/INSTALL.md index 64857774ab..3a0f2896a4 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -13,7 +13,7 @@ $ make install ## Important Installation Notes 1. GTSAM requires the following libraries to be installed on your system: - - BOOST version 1.58 or greater (install through Linux repositories or MacPorts) + - BOOST version 1.65 or greater (install through Linux repositories or MacPorts) - Cmake version 3.0 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher @@ -70,7 +70,7 @@ execute commands as follows for an out-of-source build: - When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating: - Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`. - - Use of Boost version < 1.67 with clang will give a segfault for mulitple test cases. + - Use of Boost version < 1.65 with clang will give a segfault for mulitple test cases. - MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier). # Windows Installation diff --git a/README.md b/README.md index 60eff197ae..0461323016 100644 --- a/README.md +++ b/README.md @@ -40,7 +40,7 @@ $ make install Prerequisites: -- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`) +- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`) - A modern compiler, i.e., at least gcc 4.7.3 on Linux. @@ -55,9 +55,9 @@ Optional prerequisites - used automatically if findable by CMake: GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. -GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods. +GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods. -GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. +GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. ## Wrappers @@ -68,16 +68,16 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) GTSAM includes a state of the art IMU handling scheme based on -- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) +- Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) Our implementation improves on this using integration on the manifold, as detailed in -- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) +- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) - Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) If you are using the factor in academic work, please cite the publications above. -In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. +In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF. ## Additional Information diff --git a/Using-GTSAM-EXPORT.md b/Using-GTSAM-EXPORT.md index 41eccc178d..cae1d499c6 100644 --- a/Using-GTSAM-EXPORT.md +++ b/Using-GTSAM-EXPORT.md @@ -10,7 +10,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need 3. If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations. (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.) ## When is GTSAM_EXPORT being used incorrectly -Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in gtsam/base will often show up when compiling the check_base_program or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like: +Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library. For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself. The most common errors will say something like: ``` Error LNK2019 unresolved external symbol "public: void __cdecl gtsam::SO3::print(class std::basic_string,class std::allocator > const &)const " (?print@SO3@gtsam@@QEBAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: static void __cdecl gtsam::Testable::Print(class gtsam::SO3 const &,class std::basic_string,class std::allocator > const &)" (?Print@?$Testable@VSO3@gtsam@@@gtsam@@SAXAEBVSO3@2@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) check_geometry_program C:\AFIT\lib\gtsam\build\gtsam\geometry\tests\testSO3.obj diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake index e73c2237de..6c742cfe53 100644 --- a/cmake/HandleBoost.cmake +++ b/cmake/HandleBoost.cmake @@ -22,7 +22,7 @@ endif() # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. -set(BOOST_FIND_MINIMUM_VERSION 1.58) +set(BOOST_FIND_MINIMUM_VERSION 1.65) set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) @@ -30,7 +30,7 @@ find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM # Required components if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) - message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.") + message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.") endif() option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) diff --git a/cmake/HandleCPack.cmake b/cmake/HandleCPack.cmake index 1c32433a48..0f8d1680c9 100644 --- a/cmake/HandleCPack.cmake +++ b/cmake/HandleCPack.cmake @@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION # Deb-package specific cpack set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") -set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") +set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.65)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") diff --git a/gtsam/base/base.i b/gtsam/base/base.i index c24b04088a..d9c51fbe83 100644 --- a/gtsam/base/base.i +++ b/gtsam/base/base.i @@ -33,13 +33,13 @@ class IndexPair { size_t j() const; }; -// template -// class DSFMap { -// DSFMap(); -// KEY find(const KEY& key) const; -// void merge(const KEY& x, const KEY& y); -// std::map sets(); -// }; +template +class DSFMap { + DSFMap(); + KEY find(const KEY& key) const; + void merge(const KEY& x, const KEY& y); + std::map sets(); +}; class IndexPairSet { IndexPairSet(); @@ -81,13 +81,6 @@ class IndexPairSetMap { gtsam::IndexPairSet at(gtsam::IndexPair& key); }; -class DSFMapIndexPair { - DSFMapIndexPair(); - gtsam::IndexPair find(const gtsam::IndexPair& key) const; - void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y); - gtsam::IndexPairSetMap sets(); -}; - #include bool linear_independent(Matrix A, Matrix B, double tol); diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index 6b99721565..243611433c 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -66,12 +66,9 @@ class NonlinearEquality: public NoiseModelFactor1 { public: - /** - * Function that compares two values - */ - typedef std::function CompareFunction; + /// Function that compares two values. + using CompareFunction = std::function; CompareFunction compare_; -// bool (*compare_)(const T& a, const T& b); /// Default constructor - only for serialization NonlinearEquality() { @@ -198,9 +195,8 @@ class NonlinearEquality: public NoiseModelFactor1 { }; // \class NonlinearEquality -template -struct traits > : Testable > { -}; +template +struct traits> : Testable> {}; /* ************************************************************************* */ /** @@ -285,9 +281,9 @@ class NonlinearEquality1: public NoiseModelFactor1 { }; // \NonlinearEquality1 -template -struct traits > : Testable > { -}; +template +struct traits > + : Testable > {}; /* ************************************************************************* */ /** diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i index 73eaef1250..91525c5fdf 100644 --- a/gtsam/nonlinear/nonlinear.i +++ b/gtsam/nonlinear/nonlinear.i @@ -572,8 +572,8 @@ virtual class GncOptimizer { gtsam::Values optimize(); }; -typedef gtsam::GncOptimizer > GncGaussNewtonOptimizer; -typedef gtsam::GncOptimizer > GncLMOptimizer; +typedef gtsam::GncOptimizer> GncGaussNewtonOptimizer; +typedef gtsam::GncOptimizer> GncLMOptimizer; #include virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {