Fix variable marginalization for IncrementalFixedLagSmoother #3151
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 |