Merge branch 'develop' into feature/ALM

# Conflicts:
#	gtsam/constrained/constrained.md

Author: dellaert

.github/copilot-instructions.md

@@ -4,8 +4,19 @@ For reviewing PRs:
 * Use meaningful variable names, e.g. `measurement` not `msm`, avoid abbreviations.
 * Flag overly complex or long/functions: break up in smaller functions
 * On Windows it is necessary to explicitly export all functions from the library which should be externally accessible. To do this, include the macro `GTSAM_EXPORT` in your class or function definition.
+* When adding or modifying public classes/methods, always review and follow `Using-GTSAM-EXPORT.md` before finalizing changes, including template specialization/export rules.
 * If we add a C++ function to a `.i` file to expose it to the wrapper, we must ensure that the parameter names match exactly between the declaration in the header file and the declaration in the `.i`. Similarly, if we change any parameter names in a wrapped function in a header file, or change any parameter names in a `.i` file, we must change the corresponding function in the other file to reflect those changes.
+* For templated classes/factors in wrappers, prefer the normal `.i` template mechanism over hand-writing one wrapper class per instantiation. Let the wrapper generate names such as `AttitudeFactorRot3` from `template<...> class AttitudeFactor`.
+* Do not add or keep C++ `using`/`typedef` aliases solely to manufacture wrapper names. Only keep aliases when they are genuinely useful in the C++ API as well.
 * Classes are Uppercase, methods and functions lowerMixedCase.
 * Public fields in structs keep plain names (no trailing underscore).
 * Apart from those naming conventions, we adopt Google C++ style.
+* Prefer concise, elegant examples: use the fewest helpers possible, favor direct construction and small local functors/lambdas over extra adapter functions.
+* Notebooks in `*/doc/*.ipynb` and `*/examples/*.ipynb` should follow the standard preamble:
+  1) title/introduction markdown cell,
+  2) copyright markdown cell tagged `remove-cell`,
+  3) Colab badge markdown cell,
+  4) Colab install code cell tagged `remove-cell`,
+  5) imports/setup code cell.
+  Use the same `remove-cell` tagging convention as existing notebooks so docs build and Colab behavior stay consistent.
 * After any code change, always run relevant tests via `make -j6 testXXX.run` in the build folder $WORKSPACE/build. If in VS code, ask for escalated permissions if needed.

.github/scripts/python.sh

@@ -24,6 +24,7 @@ if [ -z ${PYTHON_VERSION+x} ]; then
 fi
 
 export PYTHON="python${PYTHON_VERSION}"
+NO_BOOST_BUILD=OFF
 
 function install_dependencies()
 {
@@ -43,20 +44,26 @@ function install_dependencies()
 
 function build()
 {
-  export CMAKE_GENERATOR=Ninja
   BUILD_PYBIND="ON"
+  USE_BOOST_FEATURES="ON"
+  ENABLE_BOOST_SERIALIZATION="ON"
+
+  if [ "${NO_BOOST_BUILD}" == "ON" ]; then
+    USE_BOOST_FEATURES="OFF"
+    ENABLE_BOOST_SERIALIZATION="OFF"
+  fi
 
   # Add Boost hints on Windows
   BOOST_CMAKE_ARGS=""
-  if [[ "$OSTYPE" == "msys" || "$OSTYPE" == "win32" || "$OSTYPE" == "cygwin" ]]; then
+  if [ "${NO_BOOST_BUILD}" != "ON" ] && [[ "$OSTYPE" == "msys" || "$OSTYPE" == "win32" || "$OSTYPE" == "cygwin" ]]; then
     if [ -n "${BOOST_ROOT}" ]; then
      BOOST_ROOT_UNIX=$(echo "$BOOST_ROOT" | sed 's/\\/\//g')
      BOOST_CMAKE_ARGS="-DBOOST_ROOT=${BOOST_ROOT_UNIX} -DBOOST_INCLUDEDIR=${BOOST_ROOT_UNIX}/include -DBOOST_LIBRARYDIR=${BOOST_ROOT_UNIX}/lib"
     fi
   fi
 
   cmake $GITHUB_WORKSPACE \
-      -B build \
+      -B build -G Ninja \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
       -DGTSAM_BUILD_TESTS=OFF \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
@@ -68,20 +75,28 @@ function build()
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-      -DGTSAM_USE_BOOST_FEATURES=ON \
-      -DGTSAM_ENABLE_BOOST_SERIALIZATION=ON \
+      -DGTSAM_USE_BOOST_FEATURES=${USE_BOOST_FEATURES} \
+      -DGTSAM_ENABLE_BOOST_SERIALIZATION=${ENABLE_BOOST_SERIALIZATION} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install \
       $BOOST_CMAKE_ARGS
 
-  # Set to 2 cores so that Actions does not error out during resource provisioning.
-  cmake --build build -j2
-
-  cmake --build build --target python-install
+  if [ "${NO_BOOST_BUILD}" == "ON" ]; then
+    # Build only wrapper targets for the no-Boost verification lane.
+    cmake --build build -j2 --target gtsam_py gtsam_unstable_py
+  else
+    # Set to 2 cores so that Actions does not error out during resource provisioning.
+    cmake --build build -j2
+    cmake --build build --target python-install
+  fi
 }
 
 function test()
 {
+  if [ "${NO_BOOST_BUILD}" == "ON" ]; then
+    export PYTHONPATH="$GITHUB_WORKSPACE/build/python:$PYTHONPATH"
+  fi
+
   cd $GITHUB_WORKSPACE/python/gtsam/tests
   $PYTHON -m unittest discover -v
   cd $GITHUB_WORKSPACE
@@ -94,8 +109,30 @@ function test()
   # cmake --build build --target python-test-unstable
 }
 
+# Parse optional flags.
+if [ $# -lt 1 ]; then
+  echo "Usage: $0 {-d|-b|-t} [--no-boost]"
+  exit 2
+fi
+
+ACTION="$1"
+shift
+
+while [ $# -gt 0 ]; do
+  case "$1" in
+    --no-boost)
+      NO_BOOST_BUILD=ON
+      ;;
+    *)
+      echo "Unknown option: $1"
+      exit 2
+      ;;
+  esac
+  shift
+done
+
 # select between build or test
-case $1 in
+case $ACTION in
   -d)
     install_dependencies
     ;;

.github/scripts/python_wheels/cibw_before_all.sh

@@ -8,7 +8,7 @@ set -x
 
 PYTHON_VERSION="$1"
 PROJECT_DIR="$2"
-ARCH=$(uname -m)
+WHEEL_BUILD_JOBS=2
 
 export PYTHON="python${PYTHON_VERSION}"
 
@@ -33,11 +33,26 @@ BOOST_PREFIX="$HOME/opt/boost"
 ./bootstrap.sh --prefix=${BOOST_PREFIX}
 
 if [ "$(uname)" == "Linux" ]; then
-    ./b2 install --prefix=${BOOST_PREFIX} --with=all -d0
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX} -d0 --with-graph \
+        --with-move --with-optional --with-program_options --with-random \
+        --with-serialization --with-smart_ptr --with-timer --with-chrono
 elif [ "$(uname)" == "Darwin" ]; then
-    ./b2 install --prefix=${BOOST_PREFIX} --with=all -d0 \
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX} -d0 --with-graph \
+        --with-move --with-optional --with-program_options --with-random \
+        --with-serialization --with-smart_ptr --with-timer --with-chrono \
+        architecture=arm \
         cxxflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}" \
         linkflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}"
+    ./b2 -j${WHEEL_BUILD_JOBS} install --prefix=${BOOST_PREFIX}/x86 -d0 --with-graph \
+        --with-move --with-optional --with-program_options --with-random \
+        --with-serialization --with-smart_ptr --with-timer --with-chrono \
+        architecture=x86 \
+        cxxflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}" \
+        linkflags="-mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}"
+    for dylib in ${BOOST_PREFIX}/lib/*.dylib; do
+        lipo -create -output $dylib $dylib ${BOOST_PREFIX}/x86/lib/$(basename $dylib)
+    done
+    rm -r ${BOOST_PREFIX}/x86
 fi
 cd ..
 
@@ -67,6 +82,7 @@ rm -rf CMakeCache.txt CMakeFiles
 cmake $PROJECT_DIR \
     -B build \
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+    -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" \
     -DGTSAM_BUILD_TESTS=OFF \
     -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
     -DGTSAM_USE_QUATERNIONS=OFF \
@@ -87,11 +103,5 @@ doxygen build/doc/Doxyfile
 
 # Install the Python wrapper module and generate Python stubs
 cd $PROJECT_DIR/build/python
-if [ "$(uname)" == "Linux" ]; then
-    make -j $(nproc) install
-    make -j $(nproc) python-stubs
-elif [ "$(uname)" == "Darwin" ]; then
-    make -j $(sysctl -n hw.logicalcpu) install
-    make -j $(sysctl -n hw.logicalcpu) python-stubs
-fi
-
+make -j${WHEEL_BUILD_JOBS} install
+make -j${WHEEL_BUILD_JOBS} python-stubs

.github/scripts/unix.sh

@@ -17,9 +17,8 @@ function configure()
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
-  export CMAKE_GENERATOR=Ninja
   cmake $GITHUB_WORKSPACE \
-      -B build \
+      -B build -G Ninja \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DCMAKE_CXX_FLAGS="-w" \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
@@ -34,6 +33,7 @@ function configure()
       -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
       -DGTSAM_USE_BOOST_FEATURES=${GTSAM_USE_BOOST_FEATURES:-OFF} \
       -DGTSAM_ENABLE_BOOST_SERIALIZATION=${GTSAM_ENABLE_BOOST_SERIALIZATION:-OFF} \
+      -DGTSAM_ENABLE_CONSISTENCY_CHECKS=${GTSAM_ENABLE_CONSISTENCY_CHECKS:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_SINGLE_TEST_EXE=${GTSAM_SINGLE_TEST_EXE:-OFF} \
       -DGTSAM_ENABLE_GEOGRAPHICLIB=${GTSAM_ENABLE_GEOGRAPHICLIB:-OFF}

.github/workflows/build-cibw.yml

@@ -32,11 +32,6 @@ jobs:
       matrix:
         include:
           # Linux x86_64
-          - os: ubuntu-latest
-            python_version: "3.10"
-            cibw_python_version: 310
-            platform_id: manylinux_x86_64
-            manylinux_image: manylinux2014
           - os: ubuntu-latest
             python_version: "3.11"
             cibw_python_version: 311
@@ -52,13 +47,13 @@ jobs:
             cibw_python_version: 313
             platform_id: manylinux_x86_64
             manylinux_image: manylinux2014
+          - os: ubuntu-latest
+            python_version: "3.14"
+            cibw_python_version: 314
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux2014
 
           # Linux aarch64
-          - os: ubuntu-24.04-arm
-            python_version: "3.10"
-            cibw_python_version: 310
-            platform_id: manylinux_aarch64
-            manylinux_image: manylinux2014
           - os: ubuntu-24.04-arm
             python_version: "3.11"
             cibw_python_version: 311
@@ -74,42 +69,29 @@ jobs:
             cibw_python_version: 313
             platform_id: manylinux_aarch64
             manylinux_image: manylinux2014
-
-          # MacOS x86_64
-          - os: macos-15-intel
-            python_version: "3.10"
-            cibw_python_version: 310
-            platform_id: macosx_x86_64
-          - os: macos-15-intel
-            python_version: "3.11"
-            cibw_python_version: 311
-            platform_id: macosx_x86_64
-          - os: macos-15-intel
-            python_version: "3.12"
-            cibw_python_version: 312
-            platform_id: macosx_x86_64
-          - os: macos-15-intel
-            python_version: "3.13"
-            cibw_python_version: 313
-            platform_id: macosx_x86_64
+          - os: ubuntu-24.04-arm
+            python_version: "3.14"
+            cibw_python_version: 314
+            platform_id: manylinux_aarch64
+            manylinux_image: manylinux2014
 
           # MacOS arm64
-          - os: macos-latest
-            python_version: "3.10"
-            cibw_python_version: 310
-            platform_id: macosx_arm64
           - os: macos-latest
             python_version: "3.11"
             cibw_python_version: 311
-            platform_id: macosx_arm64
+            platform_id: macosx_universal2
           - os: macos-latest
             python_version: "3.12"
             cibw_python_version: 312
-            platform_id: macosx_arm64
+            platform_id: macosx_universal2
           - os: macos-latest
             python_version: "3.13"
             cibw_python_version: 313
-            platform_id: macosx_arm64
+            platform_id: macosx_universal2
+          - os: macos-latest
+            python_version: "3.14"
+            cibw_python_version: 314
+            platform_id: macosx_universal2
 
     steps:
       - name: Checkout
@@ -131,9 +113,10 @@ jobs:
         run: |
           python3 -m pip install -r python/dev_requirements.txt
           if [ "$RUNNER_OS" == "Linux" ]; then
-            sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
+            sudo apt update
+            sudo apt-get install -y libicu-dev python3-pip python3-setuptools libboost-all-dev
           elif [ "$RUNNER_OS" == "macOS" ]; then
-            brew install wget icu4c boost ninja python-setuptools
+            brew install boost python-setuptools
           else
             echo "$RUNNER_OS not supported"
             exit 1
@@ -146,7 +129,7 @@ jobs:
       # the wheels to ensure platform compatibility.
       - name: Run CMake
         run: |
-          cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
+          cmake -B build -G Ninja -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
 
       # If on macOS, we previously installed boost using homebrew for the first build.
       # We need to uninstall it before building the wheels with cibuildwheel, which will
@@ -163,6 +146,7 @@ jobs:
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
+          CIBW_ARCHS_MACOS: universal2
           CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP
 
           # Set the minimum required MacOS version for the wheels.
@@ -181,6 +165,17 @@ jobs:
 
         run: bash .github/scripts/python_wheels/build_wheels.sh
 
+      - name: Test wheel
+        run: |
+          python3 -m pip install wheelhouse/*.whl
+          python3 -c "import platform; print(platform.machine()); import gtsam"
+          if [ "$RUNNER_OS" == "macOS" ]; then
+            # Uninstall numpy and reinstall wheel to get x86 numpy for smoke test
+            arch -x86_64 python3 -m pip uninstall -y numpy
+            arch -x86_64 python3 -m pip install wheelhouse/*.whl
+            arch -x86_64 python3 -c "import platform; print(platform.machine()); import gtsam;"
+          fi
+
       - name: Store artifacts
         uses: actions/upload-artifact@v4
         with:

.github/workflows/build-linux.yml

@@ -94,6 +94,11 @@ jobs:
         run: |
           echo "GTSAM_ENABLE_GEOGRAPHICLIB=ON" >> $GITHUB_ENV
 
+      - name: Enable Consistency Checks (Debug)
+        if: matrix.build_type == 'Debug'
+        run: |
+          echo "GTSAM_ENABLE_CONSISTENCY_CHECKS=ON" >> $GITHUB_ENV
+
       - name: Build and Test
         run: |
           .github/scripts/unix.sh -t