Add Lie group capabilities to NavState #3252
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| name: Python CI | |
| on: [pull_request] | |
| # Every time you make a push to your PR, it cancel immediately the previous checks, | |
| # and start a new one. The other runner will be available more quickly to your PR. | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }} | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: ON | |
| CTEST_PARALLEL_LEVEL: 2 | |
| CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | |
| PYTHON_VERSION: ${{ matrix.python_version }} | |
| BOOST_VERSION: 1.72.0 | |
| BOOST_EXE: boost_1_72_0-msvc-14.2 | |
| strategy: | |
| fail-fast: true | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: | |
| [ | |
| ubuntu-20.04-gcc-9, | |
| ubuntu-20.04-clang-9, | |
| macos-12-xcode-14.2, | |
| macos-14-xcode-15.4, | |
| windows-2022-msbuild, | |
| ] | |
| build_type: [Release] | |
| python_version: [3] | |
| include: | |
| - name: ubuntu-20.04-gcc-9 | |
| os: ubuntu-20.04 | |
| compiler: gcc | |
| version: "9" | |
| - name: ubuntu-20.04-clang-9 | |
| os: ubuntu-20.04 | |
| compiler: clang | |
| version: "9" | |
| - name: macos-12-xcode-14.2 | |
| os: macos-12 | |
| compiler: xcode | |
| version: "14.2" | |
| - name: macos-14-xcode-15.4 | |
| os: macos-14 | |
| compiler: xcode | |
| version: "15.4" | |
| - name: windows-2022-msbuild | |
| os: windows-2022 | |
| platform: 64 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Install (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then | |
| # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool | |
| # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure | |
| # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository | |
| # This key is not in the keystore by default for Ubuntu so we need to add it. | |
| LLVM_KEY=15CF4D18AF4F7421 | |
| gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY | |
| gpg -a --export $LLVM_KEY | sudo apt-key add - | |
| sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" | |
| fi | |
| sudo apt-get -y update | |
| sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev ninja-build | |
| if [ "${{ 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-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV | |
| fi | |
| - name: Install (macOS) | |
| if: runner.os == 'macOS' | |
| run: | | |
| brew tap ProfFan/robotics | |
| brew install cmake ninja | |
| brew install boost | |
| sudo xcode-select -switch /Applications/Xcode.app | |
| echo "CC=clang" >> $GITHUB_ENV | |
| echo "CXX=clang++" >> $GITHUB_ENV | |
| - name: Setup msbuild (Windows) | |
| if: runner.os == 'Windows' | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x${{matrix.platform}} | |
| toolset: 14.40 | |
| - name: cl version (Windows) | |
| if: runner.os == 'Windows' | |
| shell: cmd | |
| run: cl | |
| - name: Setup python (Windows) | |
| uses: actions/setup-python@v5 | |
| if: runner.os == 'Windows' | |
| with: | |
| python-version: ${{ matrix.python_version }} | |
| - name: Install ninja (Windows) | |
| if: runner.os == 'Windows' | |
| shell: bash | |
| run: | | |
| choco install ninja | |
| ninja --version | |
| where ninja | |
| - name: Install Boost (Windows) | |
| if: runner.os == 'Windows' | |
| shell: powershell | |
| run: | | |
| # Snippet from: https://github.com/actions/virtual-environments/issues/2667 | |
| $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64" | |
| # Use the prebuilt binary for Windows | |
| $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe" | |
| # Create WebClient with appropriate settings and download Boost exe | |
| $wc = New-Object System.Net.Webclient | |
| $wc.Headers.Add("User-Agent: Other"); | |
| $wc.DownloadFile($Url, "$env:TEMP\boost.exe") | |
| Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH" | |
| # Set the BOOST_ROOT variable | |
| echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV | |
| - name: Set GTSAM_WITH_TBB Flag | |
| if: matrix.flag == 'tbb' | |
| run: | | |
| echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV | |
| echo "GTSAM Uses TBB" | |
| - name: Set Swap Space (Linux) | |
| if: runner.os == 'Linux' | |
| uses: pierotofy/set-swap-space@master | |
| with: | |
| swap-size-gb: 6 | |
| - name: Install System Dependencies (Linux, macOS) | |
| if: runner.os != 'Windows' | |
| run: | | |
| bash .github/scripts/python.sh -d | |
| - name: Create virtual on MacOS | |
| if: runner.os == 'macOS' | |
| run: | | |
| python$PYTHON_VERSION -m venv venv | |
| source venv/bin/activate | |
| echo "PATH=$(pwd)/venv/bin:$PATH" >> $GITHUB_ENV | |
| python -m pip install --upgrade pip | |
| - name: Install Python Dependencies | |
| shell: bash | |
| run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt | |
| - name: Build | |
| shell: bash | |
| run: | | |
| bash .github/scripts/python.sh -b | |
| - name: Test | |
| shell: bash | |
| run: | | |
| bash .github/scripts/python.sh -t |