Merge pull request #850 from borglab/feature/cleanup

Some Cleanup

DEVELOP.md

@@ -17,3 +17,5 @@ class GTSAM_EXPORT MyClass { ... };
 
 GTSAM_EXPORT myFunction();
 ```
+
+More details [here](Using-GTSAM-EXPORT.md).

INSTALL.md

@@ -13,7 +13,7 @@ $ make install
 ## Important Installation Notes
 
 1. GTSAM requires the following libraries to be installed on your system:
-    - BOOST version 1.58 or greater (install through Linux repositories or MacPorts)
+    - BOOST version 1.65 or greater (install through Linux repositories or MacPorts)
     - Cmake version 3.0 or higher
     - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
 
@@ -70,7 +70,7 @@ execute commands as follows for an out-of-source build:
 
 - When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating:
   - Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`.
-  - Use of Boost version < 1.67 with clang will give a segfault for mulitple test cases.
+  - Use of Boost version < 1.65 with clang will give a segfault for mulitple test cases.
 - MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier).
 
 # Windows Installation

README.md

@@ -40,7 +40,7 @@ $ make install
 
 Prerequisites:
 
-- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`)
+- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`)
 - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
 - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
 
@@ -55,9 +55,9 @@ Optional prerequisites - used automatically if findable by CMake:
 
 GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
 
-GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods.
+GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods.
 
-GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
+GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
 
 
 ## Wrappers
@@ -68,16 +68,16 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md)
 
 GTSAM includes a state of the art IMU handling scheme based on
 
-- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505)
+- Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505)
 
 Our implementation improves on this using integration on the manifold, as detailed in
 
-- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
+- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
 - Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
 
 If you are using the factor in academic work, please cite the publications above.
 
-In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
+In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF.
 
 
 ## Additional Information

Using-GTSAM-EXPORT.md

@@ -10,7 +10,7 @@ To create a DLL in windows, the `GTSAM_EXPORT` keyword has been created and need
 3.  If you have defined a class using `GTSAM_EXPORT`, do not use `GTSAM_EXPORT` in any of its individual function declarations.  (Note that you _can_ put `GTSAM_EXPORT` in the definition of individual functions within a class as long as you don't put `GTSAM_EXPORT` in the class definition.)
 
 ## When is GTSAM_EXPORT being used incorrectly
-Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library.  For example, an error in gtsam/base will often show up when compiling the check_base_program or the MATLAB wrapper, but not when compiling/linking gtsam itself.  The most common errors will say something like:
+Unfortunately, using `GTSAM_EXPORT` incorrectly often does not cause a compiler or linker error in the library that is being compiled, but only when you try to use that DLL in a different library.  For example, an error in `gtsam/base` will often show up when compiling the `check_base_program` or the MATLAB wrapper, but not when compiling/linking gtsam itself.  The most common errors will say something like:
 
 ```
 Error	LNK2019	unresolved external symbol "public: void __cdecl gtsam::SO3::print(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)const " (?print@SO3@gtsam@@QEBAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z) referenced in function "public: static void __cdecl gtsam::Testable<class gtsam::SO3>::Print(class gtsam::SO3 const &,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)" (?Print@?$Testable@VSO3@gtsam@@@gtsam@@SAXAEBVSO3@2@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@Z)	check_geometry_program	C:\AFIT\lib\gtsam\build\gtsam\geometry\tests\testSO3.obj

cmake/HandleBoost.cmake

@@ -22,15 +22,15 @@ endif()
 
 
 # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
-set(BOOST_FIND_MINIMUM_VERSION 1.58)
+set(BOOST_FIND_MINIMUM_VERSION 1.65)
 set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
 
 find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
 
 # Required components
 if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
     NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
+  message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
 endif()
 
 option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)

cmake/HandleCPack.cmake

@@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION
 
 # Deb-package specific cpack
 set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.65)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")

gtsam/base/base.i

@@ -33,13 +33,13 @@ class IndexPair {
   size_t j() const;
 };
 
-// template<KEY = {gtsam::IndexPair}>
-// class DSFMap {
-//   DSFMap();
-//   KEY find(const KEY& key) const;
-//   void merge(const KEY& x, const KEY& y);
-//   std::map<KEY, Set> sets();
-// };
+template<KEY = {gtsam::IndexPair}>
+class DSFMap {
+  DSFMap();
+  KEY find(const KEY& key) const;
+  void merge(const KEY& x, const KEY& y);
+  std::map<KEY, Set> sets();
+};
 
 class IndexPairSet {
   IndexPairSet();
@@ -81,13 +81,6 @@ class IndexPairSetMap {
   gtsam::IndexPairSet at(gtsam::IndexPair& key);
 };
 
-class DSFMapIndexPair {
-  DSFMapIndexPair();
-  gtsam::IndexPair find(const gtsam::IndexPair& key) const;
-  void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y);
-  gtsam::IndexPairSetMap sets();
-};
-
 #include <gtsam/base/Matrix.h>
 bool linear_independent(Matrix A, Matrix B, double tol);
 

gtsam/nonlinear/NonlinearEquality.h

@@ -66,12 +66,9 @@ class NonlinearEquality: public NoiseModelFactor1<VALUE> {
 
 public:
 
-  /**
-   * Function that compares two values
-   */
-  typedef std::function<bool(const T&, const T&)> CompareFunction;
+  /// Function that compares two values.
+  using CompareFunction = std::function<bool(const T&, const T&)>;
   CompareFunction compare_;
-//  bool (*compare_)(const T& a, const T& b);
 
   /// Default constructor - only for serialization
   NonlinearEquality() {
@@ -198,9 +195,8 @@ class NonlinearEquality: public NoiseModelFactor1<VALUE> {
 };
 // \class NonlinearEquality
 
-template<typename VALUE>
-struct traits<NonlinearEquality<VALUE> > : Testable<NonlinearEquality<VALUE> > {
-};
+template <typename VALUE>
+struct traits<NonlinearEquality<VALUE>> : Testable<NonlinearEquality<VALUE>> {};
 
 /* ************************************************************************* */
 /**
@@ -285,9 +281,9 @@ class NonlinearEquality1: public NoiseModelFactor1<VALUE> {
 };
 // \NonlinearEquality1
 
-template<typename VALUE>
-struct traits<NonlinearEquality1<VALUE> > : Testable<NonlinearEquality1<VALUE> > {
-};
+template <typename VALUE>
+struct traits<NonlinearEquality1<VALUE> >
+    : Testable<NonlinearEquality1<VALUE> > {};
 
 /* ************************************************************************* */
 /**

gtsam/nonlinear/nonlinear.i

@@ -572,8 +572,8 @@ virtual class GncOptimizer {
   gtsam::Values optimize();
 };
 
-typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::GaussNewtonParams> > GncGaussNewtonOptimizer;
-typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::LevenbergMarquardtParams> > GncLMOptimizer;
+typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::GaussNewtonParams>> GncGaussNewtonOptimizer;
+typedef gtsam::GncOptimizer<gtsam::GncParams<gtsam::LevenbergMarquardtParams>> GncLMOptimizer;
 
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {