unittests defined in testHybridGuassianISAM fail

[aminoh]

Description

execution of make check on an UBUNTU 24.04 LTS fail on the develop branch. The error message is:

In file included from /usr/include/c++/13/string:51,
                 from /usr/include/c++/13/bits/locale_classes.h:40,
                 from /usr/include/c++/13/bits/ios_base.h:41,
                 from /usr/include/c++/13/streambuf:43,
                 from /usr/include/c++/13/bits/streambuf_iterator.h:35,
                 from /usr/include/c++/13/iterator:66,
                 from /usr/include/boost/concept_check.hpp:22,
                 from /home/amino/Tools/gtsam/gtsam/base/concepts.h:14,
                 from /home/amino/Tools/gtsam/gtsam/base/Testable.h:36,
                 from /home/amino/Tools/gtsam/gtsam/discrete/AlgebraicDecisionTree.h:21,
                 from /home/amino/Tools/gtsam/gtsam/discrete/DecisionTreeFactor.h:21,
                 from /home/amino/Tools/gtsam/gtsam/discrete/DiscreteConditional.h:21,
                 from /home/amino/Tools/gtsam/gtsam/discrete/DiscreteBayesNet.h:21,
                 from /home/amino/Tools/gtsam/gtsam/hybrid/tests/testHybridGaussianISAM.cpp:19:
In function ‘constexpr int std::__memcmp(const _Tp*, const _Up*, size_t) [with _Tp = long unsigned int; _Up = long unsigned int]’,
    inlined from ‘static bool std::__equal<true>::equal(const _Tp*, const _Tp*, const _Tp*) [with _Tp = long unsigned int]’ at /usr/include/c++/13/bits/stl_algobase.h:1185:27,
    inlined from ‘bool std::__equal_aux1(_II1, _II1, _II2) [with _II1 = const long unsigned int*; _II2 = const long unsigned int*]’ at /usr/include/c++/13/bits/stl_algobase.h:1219:43,
    inlined from ‘bool std::__equal_aux(_II1, _II1, _II2) [with _II1 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >; _II2 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >]’ at /usr/include/c++/13/bits/stl_algobase.h:1227:31,
    inlined from ‘bool std::equal(_II1, _II1, _II2) [with _II1 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >; _II2 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >]’ at /usr/include/c++/13/bits/stl_algobase.h:1557:30,
    inlined from ‘bool gtsam::Conditional<FACTOR, DERIVEDCONDITIONAL>::ConstFactorRangeIterator::operator==(const OTHER&) const [with OTHER = std::vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> >; FACTOR = gtsam::HybridFactor; DERIVEDCONDITIONAL = gtsam::HybridConditional]’ at /home/amino/Tools/gtsam/gtsam/inference/Conditional.h:91:26,
    inlined from ‘virtual void HybridGaussianISAMIncrementalEliminationTest::run(TestResult&)’ at /home/amino/Tools/gtsam/gtsam/hybrid/tests/testHybridGaussianISAM.cpp:71:3:
/usr/include/c++/13/bits/stl_algobase.h:108:32: error: argument 2 null where non-null expected [-Werror=nonnull]
  108 |         return __builtin_memcmp(__first1, __first2, sizeof(_Tp) * __num);
      |                ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/c++/13/bits/stl_algobase.h:108:32: note: in a call to built-in function ‘int __builtin_memcmp(const void*, const void*, long unsigned int)’
In function ‘constexpr int std::__memcmp(const _Tp*, const _Up*, size_t) [with _Tp = long unsigned int; _Up = long unsigned int]’,
    inlined from ‘static bool std::__equal<true>::equal(const _Tp*, const _Tp*, const _Tp*) [with _Tp = long unsigned int]’ at /usr/include/c++/13/bits/stl_algobase.h:1185:27,
    inlined from ‘bool std::__equal_aux1(_II1, _II1, _II2) [with _II1 = const long unsigned int*; _II2 = const long unsigned int*]’ at /usr/include/c++/13/bits/stl_algobase.h:1219:43,
    inlined from ‘bool std::__equal_aux(_II1, _II1, _II2) [with _II1 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >; _II2 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >]’ at /usr/include/c++/13/bits/stl_algobase.h:1227:31,
    inlined from ‘bool std::equal(_II1, _II1, _II2) [with _II1 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >; _II2 = __gnu_cxx::__normal_iterator<const long unsigned int*, vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> > >]’ at /usr/include/c++/13/bits/stl_algobase.h:1557:30,
    inlined from ‘bool gtsam::Conditional<FACTOR, DERIVEDCONDITIONAL>::ConstFactorRangeIterator::operator==(const OTHER&) const [with OTHER = std::vector<long unsigned int, tbb::detail::d1::tbb_allocator<long unsigned int> >; FACTOR = gtsam::HybridFactor; DERIVEDCONDITIONAL = gtsam::HybridConditional]’ at /home/amino/Tools/gtsam/gtsam/inference/Conditional.h:91:26,
    inlined from ‘virtual void HybridGaussianISAMIncrementalEliminationTest::run(TestResult&)’ at /home/amino/Tools/gtsam/gtsam/hybrid/tests/testHybridGaussianISAM.cpp:83:3:
/usr/include/c++/13/bits/stl_algobase.h:108:32: error: argument 2 null where non-null expected [-Werror=nonnull]
  108 |         return __builtin_memcmp(__first1, __first2, sizeof(_Tp) * __num);
      |                ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/c++/13/bits/stl_algobase.h:108:32: note: in a call to built-in function ‘int __builtin_memcmp(const void*, const void*, long unsigned int)’
cc1plus: all warnings being treated as errors
make[3]: *** [gtsam/hybrid/tests/CMakeFiles/testHybridGaussianISAM.dir/build.make:76: gtsam/hybrid/tests/CMakeFiles/testHybridGaussianISAM.dir/testHybridGaussianISAM.cpp.o] Error 1
make[2]: *** [CMakeFiles/Makefile2:12296: gtsam/hybrid/tests/CMakeFiles/testHybridGaussianISAM.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:2598: CMakeFiles/check.dir/rule] Error 2
make: *** [Makefile:199: check] Error 2

Steps to reproduce

1. attempt a fresh installation

Expected behavior

N/A

Environment

Ubuntu 24.04 LTS. cmake configuration is as follows:

- The CXX compiler identification is GNU 13.3.0
-- The C compiler identification is GNU 13.3.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well
-- Performing Test COMPILER_HAS_WSUGGEST_OVERRIDE
-- Performing Test COMPILER_HAS_WSUGGEST_OVERRIDE - Success
-- Performing Test COMPILER_HAS_WMISSING_OVERRIDE
-- Performing Test COMPILER_HAS_WMISSING_OVERRIDE - Failed
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.83.0/BoostConfig.cmake (found suitable version "1.83.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex 
-- Found Eigen version: 3.4.0
-- Looking for execinfo.h
-- Looking for execinfo.h - found
-- Looking for getline
-- Looking for getline - found
-- checking for thread-local storage - found
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Building 3rdparty
-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) 
-- Building base
-- Building basis
-- Building constrained
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building hybrid
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building navigation
-- GTSAM Version: 4.3a0
-- Install prefix: /usr/local
-- Building GTSAM - as a SHARED library
-- Building base_unstable
-- Building geometry_unstable
-- Building linear_unstable
-- Building discrete_unstable
-- Building dynamics_unstable
-- Building nonlinear_unstable
-- Building slam_unstable
-- Building partition_unstable
-- GTSAM_UNSTABLE Version: 4.3a0
-- Install prefix: /usr/local
-- Wrote /home/amino/Tools/gtsam/build/GTSAMConfig.cmake
-- Wrote /home/amino/Tools/gtsam/build/GTSAM_UNSTABLEConfig.cmake
-- Found Doxygen: /usr/bin/doxygen (found version "1.9.8") found components: doxygen dot 
-- ===============================================================
-- ================  Configuration Options  ======================
--  CMAKE_CXX_COMPILER_ID type                       : GNU
--  CMAKE_CXX_COMPILER_VERSION                       : 13.3.0
--  CMake version                                    : 3.28.3
--  CMake generator                                  : Unix Makefiles
--  CMake build tool                                 : /usr/bin/gmake
-- Build flags                                               
--  Build Tests                                      : Enabled
--  Build examples with 'make all'                   : Enabled
--  Build timing scripts with 'make all'             : Disabled
--  Build Docs                                       : Enabled
--  Build shared GTSAM libraries                     : Enabled
--  Put build type in library name                   : Enabled
--  Build libgtsam_unstable                          : Enabled
--  Build GTSAM unstable Python                      : Enabled
--  Build MATLAB Toolbox for unstable                : Disabled
--  Build for native architecture                    : Disabled
--  Build type                                       : Release
--  C compilation flags                              :  -O3 -DNDEBUG
--  C++ compilation flags                            :  -O3 -DNDEBUG
--  Enable Boost serialization                       : ON
--  GTSAM_COMPILE_FEATURES_PUBLIC                    : cxx_std_17
--  GTSAM_COMPILE_OPTIONS_PUBLIC                     : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC                 : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_RELEASE             : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE         : 
--  Use System Eigen                                 : OFF (Using version: 3.4.0)
--  Use System Metis                                 : OFF
--  Using Boost version                              : 1.83.0
--  Use Intel TBB                                    : Yes (Version: 2021.11.0)
--  Eigen will use MKL                               : MKL not found
--  Eigen will use MKL and OpenMP                    : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
--  Default allocator                                : TBB
--  Cheirality exceptions enabled                    : YES
--  Build with ccache                                : No
-- Packaging flags
--  CPack Source Generator                           : TGZ
--  CPack Generator                                  : TGZ
-- GTSAM flags                                               
--  Quaternions as default Rot3                      : Disabled
--  Runtime consistency checking                     : Disabled
--  Build with Memory Sanitizer                      : Disabled
--  Rot3 retract is full ExpMap                      : Enabled
--  Pose3 retract is full ExpMap                     : Enabled
--  Enable branch merging in DecisionTree            : Enabled
--  Enable timing machinery                          : Disabled
--  Allow features deprecated in GTSAM 4.3           : Enabled
--  Metis-based Nested Dissection                    : Enabled
--  Use tangent-space preintegration                 : Enabled
-- MATLAB toolbox flags
--  Install MATLAB toolbox                           : Disabled
-- Python toolbox flags                                      
--  Build Python module with pybind                  : Disabled
-- ===============================================================

Additional information

During the build, there are two other warnings reported as well. I list only one here:

In file included from /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ConfigureVectorization.h:346,
                 from /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/Core:22,
                 from /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /home/amino/Tools/gtsam/gtsam/base/OptionalJacobian.h:24,
                 from /home/amino/Tools/gtsam/gtsam/base/Matrix.h:27,
                 from /home/amino/Tools/gtsam/gtsam_unstable/linear/QPSParser.cpp:20:
In function ‘void _mm_store_pd(double*, __m128d)’,
    inlined from ‘void Eigen::internal::pstore(Scalar*, const Packet&) [with Scalar = double; Packet = __vector(2) double]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h:790:126,
    inlined from ‘void Eigen::internal::pstoret(Scalar*, const Packet&) [with Scalar = double; Packet = __vector(2) double; int Alignment = 16]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h:978:11,
    inlined from ‘void Eigen::internal::assign_op<DstScalar, SrcScalar>::assignPacket(DstScalar*, const Packet&) const [with int Alignment = 16; Packet = __vector(2) double; DstScalar = double; SrcScalar = double]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/functors/AssignmentFunctors.h:28:50,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacket(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:675:47,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacketByOuterInner(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:689:48,
    inlined from ‘static void Eigen::internal::dense_assignment_loop<Kernel, 4, 0>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false> >, Eigen::internal::evaluator<Eigen::Matrix<double, -1, -1> >, Eigen::internal::assign_op<double, double>, 0>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:572:86,
    inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, -1, -1>; Functor = assign_op<double, double>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, -1, -1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; Src = Eigen::Matrix<double, -1, -1>; Func = assign_op<double, double>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; Src = Eigen::Matrix<double, -1, -1>; Func = assign_op<double, double>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:858:27,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; Src = Eigen::Matrix<double, -1, -1>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:836:18,
    inlined from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, -1, -1>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h:66:28,
    inlined from ‘void gtsam::JacobianFactor::fillTerms(const TERMS&, const gtsam::Vector&, const gtsam::SharedDiagonal&) [with TERMS = std::map<long unsigned int, Eigen::Matrix<double, 1, 1, 0, 1, 1> >]’ at /home/amino/Tools/gtsam/gtsam/linear/JacobianFactor-inl.h:90:14:
/usr/lib/gcc/x86_64-linux-gnu/13/include/emmintrin.h:169:19: warning: ‘void* __builtin_memcpy(void*, const void*, long unsigned int)’ reading 16 or more bytes from a region of size 8 [-Wstringop-overread]
  169 |   *(__m128d *)__P = __A;
      |   ~~~~~~~~~~~~~~~~^~~~~
In file included from /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/Core:166:
In function ‘void* Eigen::internal::aligned_malloc(std::size_t)’,
    inlined from ‘void* Eigen::internal::conditional_aligned_malloc(std::size_t) [with bool Align = true]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h:241:24,
    inlined from ‘T* Eigen::internal::conditional_aligned_new_auto(std::size_t) [with T = double; bool Align = true]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h:404:69,
    inlined from ‘void Eigen::DenseStorage<T, -1, -1, -1, _Options>::resize(Eigen::Index, Eigen::Index, Eigen::Index) [with T = double; int _Options = 0]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h:486:85,
    inlined from ‘void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, -1, -1>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h:285:25,
    inlined from ‘void Eigen::internal::resize_if_allowed(DstXprType&, const SrcXprType&, const assign_op<T1, T2>&) [with DstXprType = Eigen::Matrix<double, -1, -1>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; T1 = double; T2 = double]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:764:15,
    inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, -1, -1>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = assign_op<double, double>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:778:20,
    inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, -1, -1>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, -1, -1>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Func = assign_op<double, double>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Matrix<double, -1, -1>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h:797:41,
    inlined from ‘void Eigen::PlainObjectBase<Derived>::_init1(const Eigen::DenseBase<ElseDerived>&) [with T = Eigen::Matrix<double, 1, 1, 0, 1, 1>; OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Matrix<double, -1, -1>]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h:883:25,
    inlined from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T&) [with T = Eigen::Matrix<double, 1, 1, 0, 1, 1>; _Scalar = double; int _Rows = -1; int _Cols = -1; int _Options = 0; int _MaxRows = -1; int _MaxCols = -1]’ at /home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h:332:31,
    inlined from ‘constexpr std::pair<_T1, _T2>::pair(const std::pair<_U1, _U2>&) [with _U1 = const long unsigned int; _U2 = Eigen::Matrix<double, 1, 1, 0, 1, 1>; typename std::enable_if<(std::_PCC<((! std::is_same<_T1, _U1>::value) || (! std::is_same<_T2, _U2>::value)), _T1, _T2>::_ConstructiblePair<_U1, _U2>() && std::_PCC<((! std::is_same<_T1, _U1>::value) || (! std::is_same<_T2, _U2>::value)), _T1, _T2>::_ImplicitlyConvertiblePair<_U1, _U2>()), bool>::type <anonymous> = true; _T1 = long unsigned int; _T2 = Eigen::Matrix<double, -1, -1>]’ at /usr/include/c++/13/bits/stl_pair.h:586:22,
    inlined from ‘void gtsam::JacobianFactor::fillTerms(const TERMS&, const gtsam::Vector&, const gtsam::SharedDiagonal&) [with TERMS = std::map<long unsigned int, Eigen::Matrix<double, 1, 1, 0, 1, 1> >]’ at /home/amino/Tools/gtsam/gtsam/linear/JacobianFactor-inl.h:80:37:
/home/amino/Tools/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h:182:20: note: source object of size 8 allocated by ‘malloc’
  182 |     result = malloc(size);
      |              ~~~~~~^~~~~~

[ProfFan]

@varunagrawal

[varunagrawal]

This seems to be a compiler or Eigen issue. Pytorch has a similar problem pytorch/pytorch#99278 (comment)

Can you try using another Eigen version?

[aminoh]

@varunagrawal Thank you for your input. I didn't get to try your suggestion precisely but in that same line, I built the targets with almost all the tests without any build errors using clang++ 18.1.3 instead. Now the error is of a very different kind, some hard-coded warning:

I looked in the documentation though, I couldn't find any heads up for this. Curious. If not, a fix should be a trivial one possibly.

[varunagrawal]

This is a @dellaert question. Frank wanted all warnings to come up as errors sometime early this year, but it seems like the error you're getting is more of a C++ standards one (23 versus our supported 17).

I recommend creating a new issue for that, and tagging Frank in it so he can assign someone appropriate to fix it. Or if you can wait until June, I can tackle it then.

[dellaert]

Fix: include IncrementalFixedLagSmoother from gtsam, not gtsam_unstable

[aminoh]

Alright, thanks very much both :) That hotfix removes the obstacle for me.
However I leave it up to you to close the issue or otherwise.

[dellaert]

I’m unclear if the hotfix was applied to GTSAM code or your own code. I suspect the latter as otherwise our CI would not pass. But if the former, @varunagrawal, we should not close but fix.

[aminoh]

@dellaert I fixed it yeah. It was an easy fix. I will create a pull request. Could you please re-open this issue?

[varunagrawal]

@dellaert the issue is that @p-zach used #warning to indicate a compiler warning for gtsam_unstable/IncrementalFixedLagSmoother but #warning is a C++23 feature. Unless the user uses a suitable compiler, it will fail regardless. The only fix is to either use a static_assert to raise a compile time error, or ask users to use a compiler version with C++23 support.

[p-zach]

@varunagrawal I see. I moved IncrementalFixedLagSmoother in the same way that BatchFixedLagSmoother was moved. Maybe we should change the boilerplate for moved classes if the #warning isn't widely supported.

[varunagrawal]

Gotcha. To be clear, I'm not blaming you or anything like that, I was trying to find the trace of changes that would help debug the issue and get your feedback on proposed fixes. :)

[p-zach]

I know :) just wanted to convey that similar issues could arise elsewhere in the code so we know in the future