Header discipline in base

.github/scripts/unix.sh

@@ -95,7 +95,11 @@ function build ()
   configure
 
   if [ "$(uname)" == "Linux" ]; then
-    make -j$(nproc)
+    if (($(nproc) > 2)); then
+      make -j$(nproc)
+    else
+      make -j2
+    fi
   elif [ "$(uname)" == "Darwin" ]; then
     make -j$(sysctl -n hw.physicalcpu)
   fi
@@ -113,7 +117,11 @@ function test ()
 
   # Actual testing
   if [ "$(uname)" == "Linux" ]; then
-    make -j$(nproc) check
+    if (($(nproc) > 2)); then
+      make -j$(nproc) check
+    else
+      make -j2 check
+    fi
   elif [ "$(uname)" == "Darwin" ]; then
     make -j$(sysctl -n hw.physicalcpu) check
   fi

examples/SFMExampleExpressions_bal.cpp

@@ -26,10 +26,12 @@
 #include <gtsam/nonlinear/ExpressionFactorGraph.h>
 
 // Header order is close to far
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/sfm/SfmData.h>  // for loading BAL datasets !
 #include <gtsam/slam/dataset.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/inference/Symbol.h>
+
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;

examples/SFMExample_bal.cpp

@@ -16,12 +16,14 @@
  */
 
 // For an explanation of headers, see SFMExample.cpp
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/sfm/SfmData.h> // for loading BAL datasets !
+#include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/slam/dataset.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/inference/Symbol.h>
+
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -17,16 +17,16 @@
  */
 
 // For an explanation of headers, see SFMExample.cpp
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/inference/Ordering.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/sfm/SfmData.h>  // for loading BAL datasets !
 #include <gtsam/slam/dataset.h>
-
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/timing.h>
 
+#include <boost/format.hpp>
 #include <vector>
 
 using namespace std;

gtsam/base/Matrix.cpp

@@ -25,6 +25,7 @@
 
 #include <boost/tuple/tuple.hpp>
 #include <boost/tokenizer.hpp>
+#include <boost/format.hpp>
 
 #include <cstdarg>
 #include <cstring>

gtsam/base/Matrix.h

@@ -26,12 +26,9 @@
 
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/Vector.h>
-#include <gtsam/config.h>
-
-#include <boost/format.hpp>
-#include <functional>
 #include <boost/tuple/tuple.hpp>
-#include <boost/math/special_functions/fpclassify.hpp>
+
+#include <vector>
 
 /**
  * Matrix is a typedef in the gtsam namespace
@@ -523,82 +520,4 @@ GTSAM_EXPORT Matrix LLt(const Matrix& A);
 GTSAM_EXPORT Matrix RtR(const Matrix& A);
 
 GTSAM_EXPORT Vector columnNormSquare(const Matrix &A);
-} // namespace gtsam
-
-#include <boost/serialization/nvp.hpp>
-#include <boost/serialization/array.hpp>
-#include <boost/serialization/split_free.hpp>
-
-namespace boost {
-  namespace serialization {
-
-    /**
-     * Ref. https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063
-     * 
-     * Eigen supports calling resize() on both static and dynamic matrices.
-     * This allows for a uniform API, with resize having no effect if the static matrix
-     * is already the correct size.
-     * https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing
-     * 
-     * We use all the Matrix template parameters to ensure wide compatibility.
-     * 
-     * eigen_typekit in ROS uses the same code
-     * http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html
-     */
-
-    // split version - sends sizes ahead
-    template<class Archive,
-             typename Scalar_,
-             int Rows_,
-             int Cols_,
-             int Ops_,
-             int MaxRows_,
-             int MaxCols_>
-    void save(Archive & ar,
-              const Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
-              const unsigned int /*version*/) {
-      const size_t rows = m.rows(), cols = m.cols();
-      ar << BOOST_SERIALIZATION_NVP(rows);
-      ar << BOOST_SERIALIZATION_NVP(cols);
-      ar << make_nvp("data", make_array(m.data(), m.size()));
-    }
-
-    template<class Archive,
-             typename Scalar_,
-             int Rows_,
-             int Cols_,
-             int Ops_,
-             int MaxRows_,
-             int MaxCols_>
-    void load(Archive & ar,
-              Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
-              const unsigned int /*version*/) {
-      size_t rows, cols;
-      ar >> BOOST_SERIALIZATION_NVP(rows);
-      ar >> BOOST_SERIALIZATION_NVP(cols);
-      m.resize(rows, cols);
-      ar >> make_nvp("data", make_array(m.data(), m.size()));
-    }
-
-    // templated version of BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix);
-    template<class Archive,
-             typename Scalar_,
-             int Rows_,
-             int Cols_,
-             int Ops_,
-             int MaxRows_,
-             int MaxCols_>
-    void serialize(Archive & ar,
-              Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
-              const unsigned int version) {
-      split_free(ar, m, version);
-    }
-
-    // specialized to Matrix for MATLAB wrapper
-    template <class Archive>
-    void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
-      split_free(ar, m, version);
-    }
-
-  } // namespace serialization
-} // namespace boost
+}  // namespace gtsam

gtsam/base/MatrixSerialization.h

@@ -0,0 +1,89 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    MatrixSerialization.h
+ * @brief   Serialization for matrices
+ * @author  Frank Dellaert
+ * @date    February 2022
+ */
+
+// \callgraph
+
+#pragma once
+
+#include <gtsam/base/Matrix.h>
+
+#include <boost/serialization/array.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/split_free.hpp>
+
+namespace boost {
+namespace serialization {
+
+/**
+ * Ref.
+ * https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063
+ *
+ * Eigen supports calling resize() on both static and dynamic matrices.
+ * This allows for a uniform API, with resize having no effect if the static
+ * matrix is already the correct size.
+ * https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing
+ *
+ * We use all the Matrix template parameters to ensure wide compatibility.
+ *
+ * eigen_typekit in ROS uses the same code
+ * http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html
+ */
+
+// split version - sends sizes ahead
+template <class Archive, typename Scalar_, int Rows_, int Cols_, int Ops_,
+          int MaxRows_, int MaxCols_>
+void save(
+    Archive& ar,
+    const Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_>& m,
+    const unsigned int /*version*/) {
+  const size_t rows = m.rows(), cols = m.cols();
+  ar << BOOST_SERIALIZATION_NVP(rows);
+  ar << BOOST_SERIALIZATION_NVP(cols);
+  ar << make_nvp("data", make_array(m.data(), m.size()));
+}
+
+template <class Archive, typename Scalar_, int Rows_, int Cols_, int Ops_,
+          int MaxRows_, int MaxCols_>
+void load(Archive& ar,
+          Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_>& m,
+          const unsigned int /*version*/) {
+  size_t rows, cols;
+  ar >> BOOST_SERIALIZATION_NVP(rows);
+  ar >> BOOST_SERIALIZATION_NVP(cols);
+  m.resize(rows, cols);
+  ar >> make_nvp("data", make_array(m.data(), m.size()));
+}
+
+// templated version of BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix);
+template <class Archive, typename Scalar_, int Rows_, int Cols_, int Ops_,
+          int MaxRows_, int MaxCols_>
+void serialize(
+    Archive& ar,
+    Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_>& m,
+    const unsigned int version) {
+  split_free(ar, m, version);
+}
+
+// specialized to Matrix for MATLAB wrapper
+template <class Archive>
+void serialize(Archive& ar, gtsam::Matrix& m, const unsigned int version) {
+  split_free(ar, m, version);
+}
+
+}  // namespace serialization
+}  // namespace boost

gtsam/base/Value.h

@@ -21,6 +21,7 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
+#include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
 #include <memory>
 

gtsam/base/Vector.h

@@ -264,46 +264,4 @@ GTSAM_EXPORT Vector concatVectors(const std::list<Vector>& vs);
  * concatenate Vectors
  */
 GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
-} // namespace gtsam
-
-#include <boost/serialization/nvp.hpp>
-#include <boost/serialization/array.hpp>
-#include <boost/serialization/split_free.hpp>
-
-namespace boost {
-  namespace serialization {
-
-    // split version - copies into an STL vector for serialization
-    template<class Archive>
-    void save(Archive & ar, const gtsam::Vector & v, unsigned int /*version*/) {
-      const size_t size = v.size();
-      ar << BOOST_SERIALIZATION_NVP(size);
-      ar << make_nvp("data", make_array(v.data(), v.size()));
-    }
-
-    template<class Archive>
-    void load(Archive & ar, gtsam::Vector & v, unsigned int /*version*/) {
-      size_t size;
-      ar >> BOOST_SERIALIZATION_NVP(size);
-      v.resize(size);
-      ar >> make_nvp("data", make_array(v.data(), v.size()));
-    }
-
-    // split version - copies into an STL vector for serialization
-    template<class Archive, int D>
-    void save(Archive & ar, const Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
-      ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
-    }
-
-    template<class Archive, int D>
-    void load(Archive & ar, Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
-      ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
-    }
-
-  } // namespace serialization
-} // namespace boost
-
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
+}  // namespace gtsam