Fix Build

.github/workflows/linux_ci.yml

@@ -17,22 +17,19 @@ jobs:
       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-20.04-gcc-9,
-          ubuntu-20.04-clang-10,
-        ]
+        name: [ubuntu-24.04-gcc-14, ubuntu-24.04-clang-16]
 
         build_type: [Debug, Release]
         include:
-          - name: ubuntu-20.04-gcc-9
-            os: ubuntu-20.04
+          - name: ubuntu-24.04-gcc-14
+            os: ubuntu-24.04
             compiler: gcc
-            version: "9"
+            version: "14"
 
-          - name: ubuntu-20.04-clang-10
-            os: ubuntu-20.04
+          - name: ubuntu-24.04-clang-16
+            os: ubuntu-24.04
             compiler: clang
-            version: "10"
+            version: "16"
 
     steps:
       - name: Setup Compiler
@@ -72,13 +69,21 @@ jobs:
 
       - name: Install GTSAM
         run: |
-          git clone https://github.com/borglab/gtsam.git
-          cd gtsam && mkdir build && cd $_
-          cmake -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF -DGTSAM_WITH_TBB=OFF -DGTSAM_BUILD_UNSTABLE=OFF .. && sudo make -j4 install
-          cd ../../
+          set -e
+          git clone https://github.com/borglab/gtsam.git /tmp/gtsam_source
+          cd /tmp/gtsam_source
+          mkdir build && cd $_
+          cmake -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+                -DGTSAM_WITH_TBB=OFF \
+                -DGTSAM_BUILD_UNSTABLE=OFF \
+                -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF ..
+          sudo make -j4 install
+          sudo ldconfig
+          cd ${{ github.workspace }} 
+          rm -rf /tmp/gtsam_source
 
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Build Directory
         run: mkdir build

.github/workflows/macos_ci.yml

@@ -17,14 +17,14 @@ jobs:
       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: [macOS-12-xcode-14.2]
+        name: [macos-14-xcode-15.4]
 
         build_type: [Debug, Release]
         include:
-          - name: macOS-12-xcode-14.2
-            os: macOS-12
+          - name: macos-14-xcode-15.4
+            os: macos-14
             compiler: xcode
-            version: "14.2"
+            version: "15.4"
 
     steps:
       - name: Setup Compiler

.github/workflows/python_ci.yml

@@ -11,17 +11,16 @@ jobs:
       CTEST_OUTPUT_ON_FAILURE: ON
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
-      PYTHON_VERSION: ${{ matrix.python_version }}
 
     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-22.04-gcc-9, ubuntu-22.04-clang-12, macOS-12-xcode-14.2]
+        name: [ubuntu-22.04-gcc-9, ubuntu-22.04-clang-12, macos-14-xcode-15.4]
 
         build_type: [Debug, Release]
-        python_version: [3]
+        python_version: [3.11]
         include:
           - name: ubuntu-22.04-gcc-9
             os: ubuntu-22.04
@@ -33,19 +32,19 @@ jobs:
             compiler: clang
             version: "12"
 
-          - name: ubuntu-22.04-clang-12
-            os: ubuntu-22.04
-            compiler: clang
-            version: "12"
-            build_type: Debug
-            python_version: "3"
-
-          - name: macOS-12-xcode-14.2
-            os: macOS-12
+          - name: macos-14-xcode-15.4
+            os: macos-14
             compiler: xcode
-            version: "14.2"
+            version: "15.4"
 
     steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v6
+        with:
+          python-version: ${{ matrix.python_version }}
+
       - name: Install Dependencies (Linux)
         if: runner.os == 'Linux'
         run: |
@@ -82,49 +81,52 @@ jobs:
           brew tap borglab/core
 
       - name: Python Dependencies
+        shell: bash
         run: |
-          # Install dependencies for gtwrap
-          pip3 install -U setuptools numpy pyparsing pyyaml
+          pip install --upgrade pip
+          pip install -U "setuptools<70" wheel "numpy>=1.11.0" pyparsing "pybind11-stubgen>=2.5.1"
 
-      - name: GTSAM (Linux)
+      - name: Install GTSAM (Linux)
         if: runner.os == 'Linux'
         run: |
-          # Install gtsam
-          git clone https://github.com/borglab/gtsam.git /home/runner/work/gtsam
-          cd /home/runner/work/gtsam
+          git clone https://github.com/borglab/gtsam.git /tmp/gtsam_source
+          cd /tmp/gtsam_source
           mkdir build && cd $_
-          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON ..
-          sudo make -j$(nproc) install && sudo make python-install
+          cmake -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+                -DGTSAM_BUILD_PYTHON=ON \
+                -DWRAP_PYTHON_VERSION=${{ matrix.python_version }} \
+                -DGTSAM_WITH_TBB=OFF \
+                ..
+          sudo make -j4 install 
+          make -j4 python-install 
           sudo ldconfig
-          cd $GITHUB_WORKSPACE # go back to home directory
+          cd ${{ github.workspace }}  # go back to home directory
+          sudo rm -rf /tmp/gtsam_source
 
-      - name: GTSAM (macOS)
+      - name: Install GTSAM (macOS)
         if: runner.os == 'macOS'
         run: |
-          # Install gtsam
-          git clone https://github.com/borglab/gtsam.git /Users/runner/work/gtsam
-          cd /Users/runner/work/gtsam
+          set -e
+          git clone https://github.com/borglab/gtsam.git ${{ github.workspace }}/gtsam
+          cd ${{ github.workspace }}/gtsam
           mkdir build && cd $_
-          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
-          make -j$(sysctl -n hw.physicalcpu) install && make python-install
-          cd $GITHUB_WORKSPACE # go back to home directory
-
-      - name: Checkout
-        uses: actions/checkout@v3
+          cmake -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+                -DGTSAM_BUILD_PYTHON=ON \
+                -DWRAP_PYTHON_VERSION=${{ matrix.python_version }} \
+                -DGTSAM_WITH_TBB=OFF \
+                ..
+          sudo make -j4 install 
+          make -j4 python-install 
+          cd ${{ github.workspace }} # go back to home directory
 
       - name: Build Directory
-        run: mkdir build
+        run: mkdir -p build
 
-      - name: Configure (Linux)
-        if: runner.os == 'Linux'
-        run: |
-          cmake -DGPMP2_BUILD_PYTHON_TOOLBOX=ON ..
-        working-directory: ./build
-
-      - name: Configure (macOS)
-        if: runner.os == 'macOS'
+      - name: Configure
         run: |
-          cmake -DGPMP2_BUILD_PYTHON_TOOLBOX=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
+          cmake -DGPMP2_BUILD_PYTHON_TOOLBOX=ON \
+                -DWRAP_PYTHON_VERSION=${{ matrix.python_version }} \
+                ..
         working-directory: ./build
 
       - name: Build

.gitignore

@@ -2,3 +2,4 @@ build*
 *.pyc
 *.asv
 **/.DS_Store
+.vscode

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.12)
 enable_testing()
 project(gpmp2
         LANGUAGES CXX C
@@ -14,11 +14,6 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 #TODO(Varun) Verify C++17 is enabled on Windows as well
 # Look at GtsamBuildTypes L153
 
-# Mac ONLY. Define Relative Path on Mac OS
-if(NOT DEFINED CMAKE_MACOSX_RPATH)
-  set(CMAKE_MACOSX_RPATH 0)
-endif()
-
 # version indicator
 set(GPMP2_VERSION_MAJOR 1)
 set(GPMP2_VERSION_MINOR 0)
@@ -42,7 +37,7 @@ if(GPMP2_ENABLE_BOOST_SERIALIZATION)
 endif()
 
 if(GPMP2_BUILD_STATIC_LIBRARY AND GPMP2_BUILD_MATLAB_TOOLBOX)
-  message(FATAL_ERROR "Matlab toolbox needs static lib to be built")
+  message(FATAL_ERROR "Matlab toolbox needs shared lib to be built")
 endif()
 
 
@@ -52,11 +47,12 @@ include_directories(${GTSAM_INCLUDE_DIR})
 set(GTSAM_LIBRARIES gtsam)   # TODO: automatic search libs
 
 find_package(GTSAMCMakeTools)
-include(GtsamMakeConfigFile)
 include(GtsamBuildTypes)
+include(GtsamMakeConfigFile)
 include(GtsamTesting)
+include(GtsamPrinting)
 
-# for unittest scripts
+# for unit tests and scripts
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools")
 
 # Boost - same requirement as gtsam
@@ -68,8 +64,7 @@ include_directories(${Boost_INCLUDE_DIR})
 configure_file("gpmp2/config.h.in" "gpmp2/config.h")
 list(APPEND gpmp2_srcs "${PROJECT_BINARY_DIR}/gpmp2/config.h")
 include_directories(BEFORE ${PROJECT_BINARY_DIR}) # So we can include generated config header files
-install(FILES "${PROJECT_BINARY_DIR}/gpmp2/config.h" DESTINATION include/gpmp2)
-
+install(FILES "${PROJECT_BINARY_DIR}/gpmp2/config.h" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gpmp2)
 
 # include current source folder, at the very beginning
 include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR})

gpmp2/geometry/DynamicLieTraits.h

@@ -74,6 +74,8 @@ struct DynamicLieGroupTraits {
                        ChartJacobian H = {}) {
     return m.inverse(H);
   }
+
+  static Eigen::MatrixXd AdjointMap(const Class& m) { return m.AdjointMap(); }
   /// @}
 };
 

gpmp2/geometry/ProductDynamicLieGroup.h

@@ -10,6 +10,7 @@
 
 #include <gpmp2/geometry/utilsDynamic.h>
 #include <gtsam/base/Lie.h>
+#include <gtsam/base/ProductLieGroup.h>
 
 #include <utility>  // pair
 
@@ -18,11 +19,11 @@ namespace gpmp2 {
 /// Template to construct the product Lie group of two other Lie groups
 /// Assumes Lie group structure for G and H, at least one is dynamic size types
 template <typename G, typename H>
-class ProductDynamicLieGroup : public std::pair<G, H> {
+class ProductDynamicLieGroup : public gtsam::ProductLieGroup<G, H> {
  private:
-  GTSAM_CONCEPT_ASSERT((gtsam::IsLieGroup<G>));
-  GTSAM_CONCEPT_ASSERT((gtsam::IsLieGroup<H>));
-  typedef std::pair<G, H> Base;
+  GTSAM_CONCEPT_ASSERT(gtsam::IsLieGroup<G>);
+  GTSAM_CONCEPT_ASSERT(gtsam::IsLieGroup<H>);
+  typedef gtsam::ProductLieGroup<G, H> Base;
 
  protected:
   // static dimensions

gpmp2/geometry/tests/testDynamicVector.cpp

@@ -25,10 +25,10 @@ GTSAM_CONCEPT_LIE_INST(DynamicVector)
 
 /* ************************************************************************** */
 TEST(DynamicVector, Concept) {
-  GTSAM_CONCEPT_ASSERT((IsGroup<DynamicVector>));
-  GTSAM_CONCEPT_ASSERT((IsManifold<DynamicVector>));
-  GTSAM_CONCEPT_ASSERT((IsLieGroup<DynamicVector>));
-  GTSAM_CONCEPT_ASSERT((IsVectorSpace<DynamicVector>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<DynamicVector>);
+  GTSAM_CONCEPT_ASSERT(IsManifold<DynamicVector>);
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<DynamicVector>);
+  GTSAM_CONCEPT_ASSERT(IsVectorSpace<DynamicVector>);
 }
 
 /* ************************************************************************** */

gpmp2/geometry/tests/testPose2Vector.cpp

@@ -22,9 +22,9 @@ using namespace gpmp2;
 
 /* ************************************************************************** */
 TEST(Pose2Vector, Lie) {
-  GTSAM_CONCEPT_ASSERT((IsGroup<Pose2Vector>));
-  GTSAM_CONCEPT_ASSERT((IsManifold<Pose2Vector>));
-  GTSAM_CONCEPT_ASSERT((IsLieGroup<Pose2Vector>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<Pose2Vector>);
+  GTSAM_CONCEPT_ASSERT(IsManifold<Pose2Vector>);
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose2Vector>);
 }
 
 /* ************************************************************************** */

gpmp2/geometry/tests/testProductDynamicLieGroup.cpp

@@ -47,9 +47,9 @@ struct traits<Product> : internal::DynamicLieGroupTraits<Product> {
 
 //******************************************************************************
 TEST(ProductDynamicLieGroup, ProductLieGroup) {
-  GTSAM_CONCEPT_ASSERT((IsGroup<Product>));
-  GTSAM_CONCEPT_ASSERT((IsManifold<Product>));
-  GTSAM_CONCEPT_ASSERT((IsLieGroup<Product>));
+  GTSAM_CONCEPT_ASSERT(IsGroup<Product>);
+  GTSAM_CONCEPT_ASSERT(IsManifold<Product>);
+  GTSAM_CONCEPT_ASSERT(IsLieGroup<Product>);
   Product pair1(Point2(0, 0), Pose2());
   Vector5 d;
   d << 1, 2, 0.1, 0.2, 0.3;

gpmp2/gp/GaussianProcessInterpolatorLie.h

@@ -26,7 +26,7 @@ namespace gpmp2 {
 template <typename T>
 class GaussianProcessInterpolatorLie {
  private:
-  GTSAM_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
+  GTSAM_CONCEPT_ASSERT(gtsam::IsLieGroup<T>);
   typedef GaussianProcessInterpolatorLie<T> This;
 
   size_t dof_;

gpmp2/gp/GaussianProcessPriorLie.h

@@ -24,7 +24,7 @@ template <typename T>
 class GaussianProcessPriorLie
     : public gtsam::NoiseModelFactorN<T, gtsam::Vector, T, gtsam::Vector> {
  private:
-  GTSAM_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
+  GTSAM_CONCEPT_ASSERT(gtsam::IsLieGroup<T>);
   typedef GaussianProcessPriorLie<T> This;
   typedef gtsam::NoiseModelFactorN<T, gtsam::Vector, T, gtsam::Vector> Base;
 

python/requirements.txt

@@ -1,2 +1,4 @@
-numpy
-gtsam
+numpy>=1.11.0
+gtsam
+pyparsing>=2.4.2
+pybind11-stubgen>=2.5.1