Remove Boost. Fix typos.

Author: havriutkin

.github/scripts/cibw_before_build_linux.sh

@@ -7,7 +7,7 @@ PROJECT_DIR="$(cd "$1" && pwd)"
 INSTALL_PREFIX="/opt/gtdynamics-deps"
 NUM_CORES=$(nproc)
 
-# 1. Setup Environment
+# Setup Environment
 source ${INSTALL_PREFIX}/env.sh
 PYTHON_EXE=$(which python)
 PYTHON_VERSION=$($PYTHON_EXE -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}')")
@@ -22,7 +22,7 @@ GTSAM_SOURCE="${INSTALL_PREFIX}/gtsam_source"
 GTSAM_BUILD="${INSTALL_PREFIX}/gtsam_build_py${PYTHON_VERSION}"
 GTSAM_PREFIX="${INSTALL_PREFIX}/gtsam_py${PYTHON_VERSION}"
 
-# 2. Build and INSTALL GTSAM to Clean Prefix
+# Build and INSTALL GTSAM
 echo "Building GTSAM..."
 rm -rf ${GTSAM_BUILD} ${GTSAM_PREFIX}
 mkdir -p ${GTSAM_BUILD}
@@ -42,12 +42,12 @@ cmake ${GTSAM_SOURCE} \
     -DGTSAM_BUILD_TESTS=OFF \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_INSTALL_EXAMPLES=OFF \
-    -DGTSAM_BUILD_UNSTABLE=OFF
+    -DGTSAM_BUILD_UNSTABLE=ON
 
 cmake --build . --config Release -j${NUM_CORES}
-cmake --install .
+cmake --install . 
 
-# 3. Stage GTSAM using your Working Copy Logic
+# Stage GTSAM
 echo "Staging GTSAM Python package for bundling..."
 GTSAM_PY_SRC="${GTSAM_BUILD}/python/gtsam"
 GTSAM_PY_DST="${PROJECT_DIR}/python/gtsam"
@@ -67,7 +67,7 @@ done
 
 rm -rf ${GTSAM_PY_DST}/tests ${GTSAM_PY_DST}/examples ${GTSAM_PY_DST}/notebooks ${GTSAM_PY_DST}/__pycache__
 
-# 4. Finalize Environment for GTDynamics
+# Finalize Environment for GTDynamics
 export GTSAM_DIR="${GTSAM_PREFIX}/lib/cmake/GTSAM"
 export CMAKE_PREFIX_PATH="${GTSAM_PREFIX}:${CMAKE_PREFIX_PATH}"
 export LD_LIBRARY_PATH="${GTSAM_PREFIX}/lib:${LD_LIBRARY_PATH}"
@@ -79,7 +79,7 @@ ln -sf ${GTSAM_PREFIX} ${INSTALL_PREFIX}/gtsam_current
 sed -i 's/Interpreter Development/Interpreter Development.Module/g' \
     ${GTSAM_PREFIX}/lib/cmake/gtwrap/GtwrapUtils.cmake
 
-# 5. Build and INSTALL GTDynamics
+# Build and INSTALL GTDynamics
 echo "Building GTDynamics C++ extension..."
 GTD_BUILD="${INSTALL_PREFIX}/gtd_build_py${PYTHON_VERSION}"
 GTD_PREFIX="${INSTALL_PREFIX}/gtd_py${PYTHON_VERSION}"
@@ -104,7 +104,7 @@ cmake --build . --config Release --target gtdynamics_py -j${NUM_CORES}
 cmake --install .
 
 
-# 6. Stage GTDynamics extension 
+# Stage GTDynamics 
 echo "Staging GTDynamics extension..."
 GTD_PY_STAGING="${GTD_BUILD}/python/gtdynamics"
 

.github/scripts/cibw_before_build_macos.sh

@@ -42,56 +42,42 @@ cd ${GTSAM_BUILD}
 cmake ${GTSAM_SOURCE} \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_INSTALL_PREFIX=${GTSAM_PREFIX} \
-    -DCMAKE_OSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} \
-    -DGTSAM_BUILD_TESTS=OFF \
-    -DGTSAM_BUILD_UNSTABLE=ON \
-    -DGTSAM_USE_QUATERNIONS=OFF \
-    -DGTSAM_WITH_TBB=OFF \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
     -DGTSAM_BUILD_PYTHON=ON \
-    -DGTSAM_UNSTABLE_BUILD_PYTHON=ON \
     -DGTSAM_PYTHON_VERSION=${PYTHON_VERSION} \
     -DPYTHON_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-    -DBOOST_ROOT=${BOOST_ROOT} \
-    -DCMAKE_CXX_FLAGS="-faligned-new"
+    -DGTSAM_ENABLE_BOOST_SERIALIZATION=OFF \
+    -DGTSAM_USE_BOOST_FEATURES=OFF \
+    -DCMAKE_CXX_FLAGS="-faligned-new -Wno-error=free-nonheap-object" \
+    -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_INSTALL_EXAMPLES=OFF \
+    -DGTSAM_BUILD_UNSTABLE=ON
 
 cmake --build . --config Release -j${NUM_CORES}
 cmake --install .
 
-# Install GTSAM Python package into the build environment
-# (needed so that gtwrap/cmake can find it during GTDynamics build)
-echo "Installing GTSAM Python package..."
-cd ${GTSAM_BUILD}/python
-$PYTHON_EXE -m pip install .
 
-# Copy the gtsam Python package into the source tree so hatchling bundles
-# it directly inside the gtdynamics wheel. This eliminates the need for
-# a separate gtsam-develop pip package.
-echo "Copying gtsam Python package into source tree for bundling..."
+# Stage GTSAM
+echo "Staging GTSAM Python package for bundling..."
 GTSAM_PY_SRC="${GTSAM_BUILD}/python/gtsam"
 GTSAM_PY_DST="${PROJECT_DIR}/python/gtsam"
 rm -rf ${GTSAM_PY_DST}
 mkdir -p ${GTSAM_PY_DST}
 
-# Copy core Python files, extension module, and type stubs
 cp ${GTSAM_PY_SRC}/__init__.py ${GTSAM_PY_DST}/
 cp ${GTSAM_PY_SRC}/__init__.pyi ${GTSAM_PY_DST}/ 2>/dev/null || true
 cp ${GTSAM_PY_SRC}/*.py ${GTSAM_PY_DST}/
 find ${GTSAM_PY_SRC} -maxdepth 1 -name "gtsam*.so" -exec cp {} ${GTSAM_PY_DST}/ \;
 
-# Copy sub-packages (utils, preamble, specializations, type stubs, Data)
 for subdir in utils preamble specializations gtsam Data; do
     if [ -d "${GTSAM_PY_SRC}/${subdir}" ]; then
         cp -r ${GTSAM_PY_SRC}/${subdir} ${GTSAM_PY_DST}/
     fi
 done
 
-# Remove tests/examples/notebooks from bundled gtsam (not needed at runtime)
-rm -rf ${GTSAM_PY_DST}/tests ${GTSAM_PY_DST}/examples ${GTSAM_PY_DST}/notebooks
-rm -rf ${GTSAM_PY_DST}/__pycache__
-
+rm -rf ${GTSAM_PY_DST}/tests ${GTSAM_PY_DST}/examples ${GTSAM_PY_DST}/notebooks ${GTSAM_PY_DST}/__pycache__
 
 # Add rpath to GTSAM libraries for macOS
 for dylib in ${GTSAM_PREFIX}/lib/*.dylib; do
@@ -126,17 +112,19 @@ mkdir -p ${GTD_BUILD}
 cd ${GTD_BUILD}
 cmake ${PROJECT_DIR} \
     -DCMAKE_BUILD_TYPE=Release \
-    -DCMAKE_OSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} \
+    -DCMAKE_INSTALL_PREFIX=${GTD_PREFIX} \
     -DGTSAM_DIR="${GTSAM_PREFIX}/lib/cmake/GTSAM" \
     -DGTDYNAMICS_BUILD_PYTHON=ON \
     -DGTDYNAMICS_BUILD_EXAMPLES=OFF \
     -DBUILD_TESTING=OFF \
-    -DPython_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
     -DPYTHON_EXECUTABLE:FILEPATH=${PYTHON_EXE} \
-    -DBOOST_ROOT=${BOOST_ROOT} \
-    -DCMAKE_CXX_FLAGS="-faligned-new"
+    -DGTDYNAMICS_ENABLE_BOOST_SERIALIZATION=OFF \
+    -DCMAKE_CXX_FLAGS="-faligned-new" \
+    -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    -DCMAKE_INSTALL_LIBDIR=lib
 
 cmake --build . --config Release --target gtdynamics_py -j${NUM_CORES}
+cmake --install .
 
 # Copy the built Python extension (.so) into the source tree so that
 # hatchling (a pure-Python build backend) can package it into the wheel.
@@ -157,12 +145,4 @@ find ${GTD_PREFIX}/lib -name "libgtsam*.dylib" -delete
 
 export DYLD_LIBRARY_PATH="${GTD_PREFIX}/lib:${DYLD_LIBRARY_PATH}"
 
-echo "============================================"
-echo "GTSAM installed to: ${GTSAM_PREFIX}"
-echo "GTDynamics built at: ${GTD_BUILD}"
-echo "GTSAM_DIR=${GTSAM_DIR}"
-echo "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}"
-echo "DYLD_LIBRARY_PATH=${DYLD_LIBRARY_PATH}"
-echo "============================================"
-
 echo "before-build completed successfully for Python ${PYTHON_VERSION}!"

.github/workflows/build-wheels.yml

@@ -24,16 +24,16 @@ jobs:
           - os: ubuntu-latest
             cibw_archs: x86_64
           # Linux aarch64
-          #- os: ubuntu-24.04-arm
-          #  cibw_archs: aarch64
+          - os: ubuntu-24.04-arm
+            cibw_archs: aarch64
           # macOS arm64 (macOS 14 Sonoma)
-          #- os: macos-14
-          #  cibw_archs: arm64
-          #  macos_deployment_target: "14.0"
+          - os: macos-14
+            cibw_archs: arm64
+            macos_deployment_target: "14.0"
           # macOS arm64 (macOS 15 Sequoia)
-          #- os: macos-15
-          #  cibw_archs: arm64
-          #  macos_deployment_target: "15.0"
+          - os: macos-15
+            cibw_archs: arm64
+            macos_deployment_target: "15.0"
 
     steps:
       - name: Checkout repository