Merge pull request #1650 from borglab/factor-typecast

CMakeLists.txt

@@ -36,20 +36,20 @@ set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake"
 include(GtsamMakeConfigFile)
 include(GNUInstallDirs)
 
-# Load build type flags and default to Debug mode
-include(GtsamBuildTypes)
-
-# Use macros for creating tests/timing scripts
-include(GtsamTesting)
-include(GtsamPrinting)
-
 # guard against in-source builds
 if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_BINARY_DIR})
   message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
 endif()
 
 include(cmake/HandleGeneralOptions.cmake)   # CMake build options
 
+# Load build type flags and default to Debug mode
+include(GtsamBuildTypes)
+
+# Use macros for creating tests/timing scripts
+include(GtsamTesting)
+include(GtsamPrinting)
+
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
 option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)

cmake/GtsamBuildTypes.cmake

@@ -55,9 +55,6 @@ if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
       "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
 endif()
 
-# Add option for using build type postfixes to allow installing multiple build modes
-option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
-
 # Define all cache variables, to be populated below depending on the OS/compiler:
 set(GTSAM_COMPILE_OPTIONS_PRIVATE        "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE)
 set(GTSAM_COMPILE_OPTIONS_PUBLIC         "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations."  FORCE)
@@ -82,6 +79,13 @@ set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO  "NDEBUG" CACHE STRING "(Us
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE         "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.")
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING       "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.")
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING          "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.")
+
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING)
+
 if(MSVC)
   # Common to all configurations:
   list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
@@ -143,6 +147,13 @@ else()
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          -g -O3  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
 endif()
 
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING)
+
 # Enable C++17:
 if (NOT CMAKE_VERSION VERSION_LESS 3.8)
     set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
@@ -198,7 +209,6 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
 endif()
 
 if (NOT MSVC)
-  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
   if(GTSAM_BUILD_WITH_MARCH_NATIVE)
     # Check if Apple OS and compiler is [Apple]Clang
     if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))

cmake/GtsamTesting.cmake

@@ -42,7 +42,7 @@ endmacro()
 # GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
 #
 # Usage example:
-#   gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+#   gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 #
 # Arguments:
 #   globPatterns:  The list of files or glob patterns from which to create examples, with
@@ -51,8 +51,9 @@ endmacro()
 #   excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
 #                  an empty string "" if nothing needs to be excluded.
 #   linkLibraries: The list of libraries to link to.
-macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries)
-	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
+#   buildWithAll: Build examples with `make` and/or `make all`
+macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries buildWithAll)
+	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${buildWithAll})
 endmacro()
 
 
@@ -76,8 +77,9 @@ endmacro()
 #   excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
 #                  an empty string "" if nothing needs to be excluded.
 #   linkLibraries: The list of libraries to link to.
-macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries)
-	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${GTSAM_BUILD_TIMING_ALWAYS})
+#   buildWithAll: Build examples with `make` and/or `make all`
+macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries buildWithAll)
+	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${buildWithAll})
 endmacro()
 
 
@@ -86,9 +88,8 @@ endmacro()
 # Build macros for using tests
 enable_testing()
 
-option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
-option(GTSAM_BUILD_EXAMPLES_ALWAYS       "Build examples with 'make all' (build with 'make examples' if not)"       ON)
-option(GTSAM_BUILD_TIMING_ALWAYS         "Build timing scripts with 'make all' (build with 'make timing' if not"    OFF)
+#TODO(Varun) Move to HandlePrintConfiguration.cmake. This will require additional changes.
+option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)	
 
 # Add option for combining unit tests
 if(MSVC OR XCODE_VERSION)
@@ -123,6 +124,7 @@ add_custom_target(timing)
 # Implementations of this file's macros:
 
 macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
+	#TODO(Varun) Building of tests should not depend on global gtsam flag
 	if(GTSAM_BUILD_TESTS)
 		# Add group target if it doesn't already exist
 		if(NOT TARGET check.${groupName})

cmake/HandleGeneralOptions.cmake

@@ -8,6 +8,18 @@ else()
     set(GTSAM_UNSTABLE_AVAILABLE 0)
 endif()
 
+### GtsamTesting related options
+option(GTSAM_BUILD_EXAMPLES_ALWAYS       "Build examples with 'make all' (build with 'make examples' if not)"       ON)
+option(GTSAM_BUILD_TIMING_ALWAYS         "Build timing scripts with 'make all' (build with 'make timing' if not"    OFF)
+###
+
+# Add option for using build type postfixes to allow installing multiple build modes
+option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
+
+if (NOT MSVC)
+    option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
+endif()
+
 # Configurable Options
 if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)

cmake/README.html

@@ -47,9 +47,9 @@ <h2>GtsamTesting</h2>
 </code></pre>
 </li>
 <li>
-<p><code>gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)</code> Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.</p>
+<p><code>gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)</code> Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.</p>
 <p>Usage example:</p>
-<pre><code>gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+<pre><code>gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 </code></pre>
 <p>Arguments:</p>
 <pre><code>globPatterns:  The list of files or glob patterns from which to create unit tests, with
@@ -58,6 +58,7 @@ <h2>GtsamTesting</h2>
 excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
                an empty string "" if nothing needs to be excluded.
 linkLibraries: The list of libraries to link to.
+buildWithAll: Build examples with `make` and/or `make all`
 </code></pre>
 </li>
 </ul>

cmake/README.md

@@ -52,11 +52,11 @@ Defines two useful functions for creating CTest unit tests.  Also immediately cr
                        Pass an empty string "" if nothing needs to be excluded.
         linkLibraries: The list of libraries to link to in addition to CppUnitLite.
 
-*   `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)` Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
+*   `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)` Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
 
     Usage example:
 
-        gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+        gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 
     Arguments:
 
@@ -66,6 +66,7 @@ Defines two useful functions for creating CTest unit tests.  Also immediately cr
         excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
                        an empty string "" if nothing needs to be excluded.
         linkLibraries: The list of libraries to link to.
+        buildWithAll: Build examples with `make` and/or `make all`
 
 ## GtsamMakeConfigFile
 

examples/CMakeLists.txt

@@ -20,4 +20,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
       )
 endif()
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}" ${GTSAM_BUILD_EXAMPLES_ALWAYS})

gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp

@@ -42,8 +42,8 @@
 #include <functional>
 #include <iostream>
 #include <iterator>
-#include <vector>
 #include <numeric>
+#include <vector>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"
@@ -613,11 +613,11 @@ TEST(HybridGaussianFactorGraph, assembleGraphTree) {
   // Create expected decision tree with two factor graphs:
 
   // Get mixture factor:
-  auto mixture = std::dynamic_pointer_cast<GaussianMixtureFactor>(fg.at(0));
+  auto mixture = fg.at<GaussianMixtureFactor>(0);
   CHECK(mixture);
 
   // Get prior factor:
-  const auto gf = std::dynamic_pointer_cast<HybridConditional>(fg.at(1));
+  const auto gf = fg.at<HybridConditional>(1);
   CHECK(gf);
   using GF = GaussianFactor::shared_ptr;
   const GF prior = gf->asGaussian();

gtsam/inference/FactorGraph.h

@@ -310,6 +310,21 @@ class FactorGraph {
    */
   sharedFactor& at(size_t i) { return factors_.at(i); }
 
+  /** Get a specific factor by index and typecast to factor type F
+   * (this checks array bounds and may throw
+   * an exception, as opposed to operator[] which does not).
+   */
+  template <typename F>
+  std::shared_ptr<F> at(size_t i) {
+    return std::dynamic_pointer_cast<F>(factors_.at(i));
+  }
+
+  /// Const version of templated `at` method.
+  template <typename F>
+  const std::shared_ptr<F> at(size_t i) const {
+    return std::dynamic_pointer_cast<F>(factors_.at(i));
+  }
+
   /** Get a specific factor by index (this does not check array bounds, as
    * opposed to at() which does).
    */

gtsam/inference/Key.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file Key.h
+ * @file Key.cpp
  * @brief
  * @author Richard Roberts
  * @author Alex Cunningham
@@ -26,6 +26,9 @@ using namespace std;
 
 namespace gtsam {
 
+/// Assign default key formatter
+KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
+
 /* ************************************************************************* */
 string _defaultKeyFormatter(Key key) {
   const Symbol asSymbol(key);

gtsam/inference/Key.h

@@ -37,10 +37,16 @@ using KeyFormatter = std::function<std::string(Key)>;
 // Helper function for DefaultKeyFormatter
 GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
 
-/// The default KeyFormatter, which is used if no KeyFormatter is passed to
-/// a nonlinear 'print' function.  Automatically detects plain integer keys
-/// and Symbol keys.
-static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
+/**
+ * The default KeyFormatter, which is used if no KeyFormatter is passed
+ * to a 'print' function.
+ *
+ * Automatically detects plain integer keys and Symbol keys.
+ * 
+ * Marked as `extern` so that it can be updated by external libraries.
+ *
+ */
+extern GTSAM_EXPORT KeyFormatter DefaultKeyFormatter;
 
 // Helper function for Multi-robot Key Formatter
 GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
@@ -124,7 +130,3 @@ struct traits<Key> {
 };
 
 } // namespace gtsam
-
-
-
-

gtsam/linear/JacobianFactor.h

@@ -312,6 +312,12 @@ namespace gtsam {
     /** Get a view of the A matrix */
     ABlock getA() { return Ab_.range(0, size()); }
 
+    /**
+     * Get a view of the A matrix for the variable
+     * pointed to by the given key.
+     */
+    ABlock getA(const Key& key) { return Ab_(find(key) - begin()); }
+
     /** Update an information matrix by adding the information corresponding to this factor
      * (used internally during elimination).
      * @param scatter A mapping from variable index to slot index in this HessianFactor

gtsam/linear/tests/testGaussianFactorGraph.cpp

@@ -391,8 +391,7 @@ TEST(GaussianFactorGraph, clone) {
   EXPECT(assert_equal(init_graph, actCloned));  // Same as the original version
 
   // Apply an in-place change to init_graph and compare
-  JacobianFactor::shared_ptr jacFactor0 =
-      std::dynamic_pointer_cast<JacobianFactor>(init_graph.at(0));
+  JacobianFactor::shared_ptr jacFactor0 = init_graph.at<JacobianFactor>(0);
   CHECK(jacFactor0);
   jacFactor0->getA(jacFactor0->begin()) *= 7.;
   EXPECT(assert_inequal(init_graph, exp_graph));

gtsam/linear/tests/testJacobianFactor.cpp

@@ -65,7 +65,10 @@ TEST(JacobianFactor, constructors_and_accessors)
     JacobianFactor actual(terms[0].first, terms[0].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[0].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[0].second, actual.getA(terms[0].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());
@@ -78,7 +81,10 @@ TEST(JacobianFactor, constructors_and_accessors)
       terms[1].first, terms[1].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[1].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[1].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[1].second, actual.getA(terms[1].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());
@@ -91,7 +97,10 @@ TEST(JacobianFactor, constructors_and_accessors)
       terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[2].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[2].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[2].second, actual.getA(terms[2].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());

gtsam/nonlinear/GncOptimizer.h

@@ -65,10 +65,9 @@ class GncOptimizer {
     nfg_.resize(graph.size());
     for (size_t i = 0; i < graph.size(); i++) {
       if (graph[i]) {
-        NoiseModelFactor::shared_ptr factor = std::dynamic_pointer_cast<
-            NoiseModelFactor>(graph[i]);
-        auto robust = std::dynamic_pointer_cast<
-            noiseModel::Robust>(factor->noiseModel());
+        NoiseModelFactor::shared_ptr factor = graph.at<NoiseModelFactor>(i);
+        auto robust =
+            std::dynamic_pointer_cast<noiseModel::Robust>(factor->noiseModel());
         // if the factor has a robust loss, we remove the robust loss
         nfg_[i] = robust ? factor-> cloneWithNewNoiseModel(robust->noise()) : factor;
       }
@@ -401,11 +400,9 @@ class GncOptimizer {
     newGraph.resize(nfg_.size());
     for (size_t i = 0; i < nfg_.size(); i++) {
       if (nfg_[i]) {
-        auto factor = std::dynamic_pointer_cast<
-            NoiseModelFactor>(nfg_[i]);
-        auto noiseModel =
-            std::dynamic_pointer_cast<noiseModel::Gaussian>(
-                factor->noiseModel());
+        auto factor = nfg_.at<NoiseModelFactor>(i);
+        auto noiseModel = std::dynamic_pointer_cast<noiseModel::Gaussian>(
+            factor->noiseModel());
         if (noiseModel) {
           Matrix newInfo = weights[i] * noiseModel->information();
           auto newNoiseModel = noiseModel::Gaussian::Information(newInfo);