Add Lie group capabilities to NavState #3142
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| name: Special Cases 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 }} | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: ON | |
| CTEST_PARALLEL_LEVEL: 2 | |
| CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | |
| GTSAM_BUILD_UNSTABLE: ON | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: | |
| [ | |
| ubuntu-clang-deprecated, | |
| ubuntu-clang-quaternions, | |
| ubuntu-clang-tbb, | |
| ubuntu-clang-cayleymap, | |
| ubuntu-clang-system-libs, | |
| ubuntu-no-boost, | |
| ubuntu-no-unstable, | |
| ] | |
| build_type: [Debug, Release] | |
| include: | |
| - name: ubuntu-clang-deprecated | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: deprecated | |
| - name: ubuntu-clang-quaternions | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: quaternions | |
| - name: ubuntu-clang-tbb | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: tbb | |
| - name: ubuntu-clang-cayleymap | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: cayley | |
| - name: ubuntu-clang-system-libs | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: system | |
| - name: ubuntu-no-boost | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: no_boost | |
| - name: ubuntu-no-unstable | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: no_unstable | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Install (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get -y update | |
| sudo apt-get -y install software-properties-common | |
| # LLVM (clang) 9/14 is not in 22.04 (jammy)'s repositories so we add the official LLVM repository. | |
| if [ "${{ matrix.compiler }}" = "clang" ]; 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 $LLVM_KEY | sudo apt-key add - | |
| sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main" | |
| fi | |
| sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build | |
| if [ "${{ 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 }}" >> $GITHUB_ENV | |
| fi | |
| - name: Install Boost | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get -y install libboost-all-dev | |
| - name: Install (macOS) | |
| if: runner.os == 'macOS' | |
| run: | | |
| brew install cmake ninja boost | |
| sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app | |
| echo "CC=clang" >> $GITHUB_ENV | |
| echo "CXX=clang++" >> $GITHUB_ENV | |
| - name: Set Allow Deprecated Flag | |
| if: matrix.flag == 'deprecated' | |
| run: | | |
| echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV | |
| echo "Allow deprecated since version 4.3" | |
| - name: Set Use Quaternions Flag | |
| if: matrix.flag == 'quaternions' | |
| run: | | |
| echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV | |
| echo "Use Quaternions for rotations" | |
| - name: Set GTSAM_WITH_TBB Flag | |
| if: matrix.flag == 'tbb' | |
| run: | | |
| echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV | |
| echo "GTSAM Uses TBB" | |
| - name: Use Cayley Transform for Rot3 | |
| if: matrix.flag == 'cayley' | |
| run: | | |
| echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV | |
| echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV | |
| echo "GTSAM Uses Cayley map for Rot3" | |
| - name: Use system versions of 3rd party libraries | |
| if: matrix.flag == 'system' | |
| run: | | |
| sudo apt-get install libeigen3-dev | |
| echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV | |
| # TODO(dellaert): This does not work yet? | |
| # sudo apt-get install metis | |
| # echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV | |
| - name: Turn off boost | |
| if: matrix.flag == 'no_boost' | |
| run: | | |
| echo "GTSAM_ENABLE_BOOST_SERIALIZATION=OFF" >> $GITHUB_ENV | |
| echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV | |
| echo "GTSAM will not use BOOST" | |
| - name: Turn off unstable | |
| if: matrix.flag == 'no_unstable' | |
| run: | | |
| echo "GTSAM_BUILD_UNSTABLE=OFF" >> $GITHUB_ENV | |
| echo "GTSAM 'unstable' will not be built." | |
| - name: Set Swap Space | |
| if: runner.os == 'Linux' | |
| uses: pierotofy/set-swap-space@master | |
| with: | |
| swap-size-gb: 12 | |
| - name: Build & Test | |
| run: | | |
| bash .github/scripts/unix.sh -t |