Merge branch 'develop' into discrete-improvements

borglab · Dec 27, 2024 · 795780d · 795780d
2 parents 3694f7a + 39d92cb
commit 795780d
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Showing 170 changed files with 259 additions and 254 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -71,14 +71,7 @@ include(GtsamPrinting)
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
 option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
-if(GTSAM_ENABLE_BOOST_SERIALIZATION)
-  add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
-endif()
-
 option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" ON)
-if(GTSAM_USE_BOOST_FEATURES)
-  add_definitions(-DGTSAM_USE_BOOST_FEATURES)
-endif()
 
 if(GTSAM_ENABLE_BOOST_SERIALIZATION OR GTSAM_USE_BOOST_FEATURES)
 include(cmake/HandleBoost.cmake)

diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h
@@ -48,7 +48,7 @@ using ConcurrentMapBase = gtsam::FastMap<KEY, VALUE>;
 
 #endif
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/split_member.hpp>
 #endif
@@ -101,7 +101,7 @@ class ConcurrentMap : public ConcurrentMapBase<KEY,VALUE> {
 #endif
 
 private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>

diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h
@@ -20,7 +20,7 @@
 
 #include <gtsam/base/FastDefaultAllocator.h>
 #include <list>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/version.hpp>
 #if BOOST_VERSION >= 107400
@@ -79,7 +79,7 @@ class FastList: public std::list<VALUE, typename internal::FastDefaultAllocator<
   }
 
 private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>

diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/map.hpp>
 #endif
@@ -69,7 +69,7 @@ class FastMap : public std::map<KEY, VALUE, std::less<KEY>,
   bool exists(const KEY& e) const { return this->find(e) != this->end(); }
 
 private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>

diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
@@ -18,7 +18,9 @@
 
 #pragma once
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#include <gtsam/config.h>
+
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/version.hpp>
 #if BOOST_VERSION >= 107400
 #include <boost/serialization/library_version_type.hpp>
@@ -123,7 +125,7 @@ class FastSet: public std::set<VALUE, std::less<VALUE>,
   }
 
 private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>

diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
@@ -173,7 +173,7 @@ class GenericValue: public Value {
 
   private:
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>

diff --git a/gtsam/base/MatrixSerialization.h b/gtsam/base/MatrixSerialization.h
@@ -19,7 +19,7 @@
 // \callgraph
 
 // Defined only if boost serialization is enabled
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Matrix.h>

diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
@@ -21,7 +21,7 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/types.h>
 #include <gtsam/dllexport.h>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #endif
 #include <cassert>
@@ -386,7 +386,7 @@ namespace gtsam {
     template<typename SymmetricBlockMatrixType> friend class SymmetricBlockMatrixBlockExpr;
 
   private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>

diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
@@ -21,7 +21,7 @@
 #include <gtsam/config.h>      // Configuration from CMake
 
 #include <gtsam/base/Vector.h>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/assume_abstract.hpp>
 #endif
@@ -121,7 +121,7 @@ namespace gtsam {
      *       The last two links explain why these export lines have to be in the same source module that includes
      *       any of the archive class headers.
      * */
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     friend class boost::serialization::access;
     template<class ARCHIVE>
     void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
@@ -132,6 +132,6 @@ namespace gtsam {
 
 } /* namespace gtsam */
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(gtsam::Value)
 #endif
diff --git a/gtsam/base/VectorSerialization.h b/gtsam/base/VectorSerialization.h
@@ -17,7 +17,7 @@
  */
 
 // Defined only if boost serialization is enabled
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <gtsam/base/Vector.h>

diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h
@@ -221,7 +221,7 @@ namespace gtsam {
     friend class SymmetricBlockMatrix;
 
   private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>

diff --git a/gtsam/base/serialization.h b/gtsam/base/serialization.h
@@ -17,9 +17,12 @@
  * @date Feb 7, 2012
  */
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
+#include <gtsam/config.h>
+
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
+
 #include <Eigen/Core>
 #include <fstream>
 #include <sstream>

diff --git a/gtsam/base/serializationTestHelpers.h b/gtsam/base/serializationTestHelpers.h
@@ -17,9 +17,12 @@
  * @date Feb 7, 2012
  */
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
+#include <gtsam/config.h>
+
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
+
 #include <iostream>
 #include <sstream>
 #include <string>

diff --git a/gtsam/base/std_optional_serialization.h b/gtsam/base/std_optional_serialization.h
@@ -11,7 +11,7 @@
 #pragma once
 
 // Defined only if boost serialization is enabled
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <optional>
 #include <boost/config.hpp>
 

diff --git a/gtsam/config.h.in b/gtsam/config.h.in
@@ -88,3 +88,7 @@
 #cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR
 
 #cmakedefine GTSAM_SLOW_BUT_CORRECT_EXPMAP
+
+// Boost flags
+#cmakedefine01 GTSAM_ENABLE_BOOST_SERIALIZATION
+#cmakedefine01 GTSAM_USE_BOOST_FEATURES
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
@@ -144,7 +144,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>
@@ -471,7 +471,7 @@ namespace gtsam {
    private:
     using Base = DecisionTree<L, Y>::Node;
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>

diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
@@ -23,7 +23,7 @@
 #include <gtsam/base/types.h>
 #include <gtsam/discrete/Assignment.h>
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #endif
 #include <memory>
@@ -132,7 +132,7 @@ namespace gtsam {
       virtual bool isLeaf() const = 0;
 
      private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
       /** Serialization function */
       friend class boost::serialization::access;
       template <class ARCHIVE>
@@ -440,7 +440,7 @@ namespace gtsam {
     /// @}
 
    private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
@@ -310,7 +310,7 @@ namespace gtsam {
   /// @}
 
    private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>

diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h
@@ -147,7 +147,7 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
     /// @}
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>

diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
@@ -275,7 +275,7 @@ class GTSAM_EXPORT DiscreteConditional
                                   bool forceComplete) const;
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
@@ -163,7 +163,7 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
   /// @}
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>

diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
@@ -21,7 +21,7 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/inference/Key.h>
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/vector.hpp>
 #endif
 #include <map>
@@ -87,7 +87,7 @@ namespace gtsam {
     /// Check equality to another DiscreteKeys object.
     bool equals(const DiscreteKeys& other, double tol = 0) const;
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
     /** Serialization function */
     friend class boost::serialization::access;
     template <class ARCHIVE>

diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
@@ -123,7 +123,7 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
   /// @}
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>

diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
@@ -21,7 +21,7 @@
 #include <gtsam/base/Manifold.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/OptionalJacobian.h>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #endif
 #include <iostream>
@@ -148,7 +148,7 @@ struct BearingRange {
   /// @{
 
 private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {

diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
@@ -184,7 +184,7 @@ class GTSAM_EXPORT Cal3 {
   /// @{
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
+#if GTSAM_ENABLE_BOOST_SERIALIZATION  ///
   /// Serialization function
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
@@ -145,7 +145,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3f {
   /// @name Advanced Interface
   /// @{
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
@@ -104,7 +104,7 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
   /// @name Advanced Interface
   /// @{
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
@@ -156,7 +156,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
@@ -184,7 +184,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
   /// @name Advanced Interface
   /// @{
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
@@ -138,7 +138,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
   /// @}
 
  private:
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#if GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
   friend class boost::serialization::access;
   template <class Archive>