Merge branch 'develop' into pose2_component_jacobians

borglab · Jun 9, 2023 · a4e4e1f · a4e4e1f
2 parents 2175f80 + 13cb9d8
commit a4e4e1f
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,8 @@
+BasedOnStyle: Google
+
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 100
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+PointerAlignment: Left
diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
@@ -9,33 +9,14 @@ set -x -e
 # install TBB with _debug.so files
 function install_tbb()
 {
-  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.5
-  TBB_DIR=tbb44_20160526oss
-  TBB_SAVEPATH="/tmp/tbb.tgz"
-
   if [ "$(uname)" == "Linux" ]; then
-    OS_SHORT="lin"
-    TBB_LIB_DIR="intel64/gcc4.4"
-    SUDO="sudo"
+    sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
-    OS_SHORT="osx"
-    TBB_LIB_DIR=""
-    SUDO=""
+    brew install tbb
 
   fi
 
-  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
-  tar -C /tmp -xf $TBB_SAVEPATH
-
-  TBBROOT=/tmp/$TBB_DIR
-  # Copy the needed files to the correct places.
-  # This works correctly for CI builds, instead of setting path variables.
-  # This is what Homebrew does to install TBB on Macs
-  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
-  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
-
 }
 
 if [ -z ${PYTHON_VERSION+x} ]; then

diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
@@ -8,33 +8,14 @@
 # install TBB with _debug.so files
 function install_tbb()
 {
-  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.5
-  TBB_DIR=tbb44_20160526oss
-  TBB_SAVEPATH="/tmp/tbb.tgz"
-
   if [ "$(uname)" == "Linux" ]; then
-    OS_SHORT="lin"
-    TBB_LIB_DIR="intel64/gcc4.4"
-    SUDO="sudo"
+    sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
-    OS_SHORT="osx"
-    TBB_LIB_DIR=""
-    SUDO=""
+    brew install tbb
 
   fi
 
-  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
-  tar -C /tmp -xf $TBB_SAVEPATH
-
-  TBBROOT=/tmp/$TBB_DIR
-  # Copy the needed files to the correct places.
-  # This works correctly for CI builds, instead of setting path variables.
-  # This is what Homebrew does to install TBB on Macs
-  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
-  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
-
 }
 
 # common tasks before either build or test

diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
@@ -150,7 +150,7 @@ if (NOT CMAKE_VERSION VERSION_LESS 3.8)
     set(CMAKE_CXX_EXTENSIONS OFF)
     if (MSVC)
       # NOTE(jlblanco): seems to be required in addition to the cxx_std_17 above?
-      list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++latest)
+      list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++17)
     endif()
 else()
   # Old cmake versions:

diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
@@ -19,7 +19,8 @@ option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library,
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
 option(GTSAM_ROT3_EXPMAP                    "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
-option(GTSAM_ENABLE_CONSISTENCY_CHECKS      "Enable/Disable expensive consistency checks"       OFF)
+option(GTSAM_ENABLE_CONSISTENCY_CHECKS      "Enable/Disable expensive consistency checks" OFF)
+option(GTSAM_ENABLE_MEMORY_SANITIZER        "Enable/Disable memory sanitizer" OFF)
 option(GTSAM_WITH_TBB                       "Use Intel Threaded Building Blocks (TBB) if available" ON)
 option(GTSAM_WITH_EIGEN_MKL                 "Eigen will use Intel MKL if available" OFF)
 option(GTSAM_WITH_EIGEN_MKL_OPENMP          "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)

diff --git a/cmake/HandleGlobalBuildFlags.cmake b/cmake/HandleGlobalBuildFlags.cmake
@@ -50,3 +50,10 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
   # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
   list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
 endif()
+
+if(GTSAM_ENABLE_MEMORY_SANITIZER)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=address  -fsanitize=leak -g")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address  -fsanitize=leak -g")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address  -fsanitize=leak")
+  set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -fsanitize=address  -fsanitize=leak")
+endif()
diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake
@@ -87,6 +87,7 @@ print_config("CPack Generator" "${CPACK_GENERATOR}")
 message(STATUS "GTSAM flags                                               ")
 print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
 print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
+print_enabled_config(${GTSAM_ENABLE_MEMORY_SANITIZER}     "Build with Memory Sanitizer     ")
 print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
 print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43}  "Allow features deprecated in GTSAM 4.3")

diff --git a/gtsam/base/std_optional_serialization.h b/gtsam/base/std_optional_serialization.h
@@ -76,8 +76,7 @@ void save(Archive& ar, const std::optional<T>& t, const unsigned int /*version*/
 }
 
 template <class Archive, class T>
-void load(Archive& ar, std::optional<T>& t, const unsigned int /*version*/
-) {
+void load(Archive& ar, std::optional<T>& t, const unsigned int /*version*/) {
   bool tflag;
   ar >> boost::serialization::make_nvp("initialized", tflag);
   if (!tflag) {

diff --git a/gtsam/base/tests/testStdOptionalSerialization.cpp b/gtsam/base/tests/testStdOptionalSerialization.cpp
@@ -149,6 +149,9 @@ TEST(StdOptionalSerialization, SerializTestOptionalStructPointerPointer) {
   // Check that it worked
   EXPECT(opt2.has_value());
   EXPECT(**opt2 == TestOptionalStruct(42));
+
+  delete (*opt);
+  delete (*opt2);
 }
 
 int main() {

diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
@@ -272,20 +272,21 @@ void tic(size_t id, const char *labelC) {
 }
 
 /* ************************************************************************* */
-void toc(size_t id, const char *label) {
+void toc(size_t id, const char *labelC) {
 // disable anything which refers to TimingOutline as well, for good measure
 #ifdef GTSAM_USE_BOOST_FEATURES
+  const std::string label(labelC);
   std::shared_ptr<TimingOutline> current(gCurrentTimer.lock());
   if (id != current->id_) {
     gTimingRoot->print();
     throw std::invalid_argument(
-        "gtsam timing:  Mismatched tic/toc: gttoc(\"" + std::string(label) +
+        "gtsam timing:  Mismatched tic/toc: gttoc(\"" + label +
         "\") called when last tic was \"" + current->label_ + "\".");
   }
   if (!current->parent_.lock()) {
     gTimingRoot->print();
     throw std::invalid_argument(
-        "gtsam timing:  Mismatched tic/toc: extra gttoc(\"" + std::string(label) +
+        "gtsam timing:  Mismatched tic/toc: extra gttoc(\"" + label +
         "\"), already at the root");
   }
   current->toc();

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -94,7 +94,10 @@ namespace gtsam {
     for (Key j : f.keys()) cs[j] = f.cardinality(j);
     // Convert map into keys
     DiscreteKeys keys;
-    for (const std::pair<const Key, size_t>& key : cs) keys.push_back(key);
+    keys.reserve(cs.size());
+    for (const auto& key : cs) {
+      keys.emplace_back(key);
+    }
     // apply operand
     ADT result = ADT::apply(f, op);
     // Make a new factor