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Update wrap and allow numpy 2.0.0 #1773

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merged 16 commits into from
Jul 2, 2024
Merged

Update wrap and allow numpy 2.0.0 #1773

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5a97336
Squashed 'wrap/' changes from cdcf23207..38a1bfa01
varunagrawal Jun 28, 2024
3d40ceb
Merging 'master' into 'wrap'
varunagrawal Jun 28, 2024
df57d96
allow numpy version 2.0.0
varunagrawal Jun 28, 2024
7427cb0
update gtsam:: namespace in base.i
varunagrawal Jun 28, 2024
795fbee
update gtsam:: namespace in basis.i
varunagrawal Jun 28, 2024
ead977d
update gtsam:: namespace in geometry.i
varunagrawal Jun 28, 2024
b6d6972
update gtsam:: namespace in linear.i
varunagrawal Jun 28, 2024
14ea708
update gtsam:: namespace in navigation.i
varunagrawal Jun 28, 2024
2db6178
update gtsam:: namespace in nonlinear.i
varunagrawal Jun 28, 2024
f6dbcb6
update gtsam:: namespace in values.i
varunagrawal Jun 28, 2024
49ff90d
update gtsam:: namespace in sfm.i
varunagrawal Jun 28, 2024
2ea9d1b
update gtsam:: namespace in slam.i
varunagrawal Jun 28, 2024
0b31728
update gtsam:: namespace in gtsam.i
varunagrawal Jun 28, 2024
2916841
update gtsam:: namespace in gtsam_unstable.i
varunagrawal Jun 28, 2024
6b14f22
upgrade macos CI image to macos-12 and xcode-14.2
varunagrawal Jun 29, 2024
701ae40
Merge pull request #1774 from borglab/fix-wrapper
varunagrawal Jun 30, 2024
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8 changes: 4 additions & 4 deletions .github/workflows/build-macos.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,16 +25,16 @@ jobs:
# 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-11-xcode-13.4.1,
macos-12-xcode-14.2,
]

build_type: [Debug, Release]
build_unstable: [ON]
include:
- name: macos-11-xcode-13.4.1
os: macos-11
- name: macos-12-xcode-14.2
os: macos-12
compiler: xcode
version: "13.4.1"
version: "14.2"

steps:
- name: Checkout
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8 changes: 4 additions & 4 deletions .github/workflows/build-python.yml
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Expand Up @@ -31,7 +31,7 @@ jobs:
ubuntu-20.04-gcc-9,
ubuntu-20.04-gcc-9-tbb,
ubuntu-20.04-clang-9,
macOS-11-xcode-13.4.1,
macos-12-xcode-14.2,
windows-2022-msbuild,
]

Expand All @@ -54,10 +54,10 @@ jobs:
compiler: clang
version: "9"

- name: macOS-11-xcode-13.4.1
os: macOS-11
- name: macos-12-xcode-14.2
os: macos-12
compiler: xcode
version: "13.4.1"
version: "14.2"

- name: windows-2022-msbuild
os: windows-2022
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4 changes: 2 additions & 2 deletions gtsam/base/base.i
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Expand Up @@ -86,7 +86,7 @@ class IndexPairSetMap {

#include <gtsam/base/Matrix.h>
#include <gtsam/base/MatrixSerialization.h>
bool linear_independent(Matrix A, Matrix B, double tol);
bool linear_independent(gtsam::Matrix A, gtsam::Matrix B, double tol);

#include <gtsam/base/Value.h>
virtual class Value {
Expand All @@ -100,7 +100,7 @@ virtual class Value {
};

#include <gtsam/base/GenericValue.h>
template <T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2,
template <T = {gtsam::Vector, gtsam::Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2,
gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2,
gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler,
gtsam::Cal3Fisheye, gtsam::Cal3Unified, gtsam::EssentialMatrix,
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40 changes: 20 additions & 20 deletions gtsam/basis/basis.i
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Expand Up @@ -10,40 +10,40 @@ namespace gtsam {
#include <gtsam/basis/Fourier.h>

class FourierBasis {
static Vector CalculateWeights(size_t N, double x);
static Matrix WeightMatrix(size_t N, Vector x);
static gtsam::Vector CalculateWeights(size_t N, double x);
static gtsam::Matrix WeightMatrix(size_t N, gtsam::Vector x);

static Matrix DifferentiationMatrix(size_t N);
static Vector DerivativeWeights(size_t N, double x);
static gtsam::Matrix DifferentiationMatrix(size_t N);
static gtsam::Vector DerivativeWeights(size_t N, double x);
};

#include <gtsam/basis/Chebyshev.h>

class Chebyshev1Basis {
static Matrix CalculateWeights(size_t N, double x);
static Matrix WeightMatrix(size_t N, Vector X);
static gtsam::Matrix CalculateWeights(size_t N, double x);
static gtsam::Matrix WeightMatrix(size_t N, gtsam::Vector X);
};

class Chebyshev2Basis {
static Matrix CalculateWeights(size_t N, double x);
static Matrix WeightMatrix(size_t N, Vector x);
static gtsam::Matrix CalculateWeights(size_t N, double x);
static gtsam::Matrix WeightMatrix(size_t N, gtsam::Vector x);
};

#include <gtsam/basis/Chebyshev2.h>
class Chebyshev2 {
static double Point(size_t N, int j);
static double Point(size_t N, int j, double a, double b);

static Vector Points(size_t N);
static Vector Points(size_t N, double a, double b);
static gtsam::Vector Points(size_t N);
static gtsam::Vector Points(size_t N, double a, double b);

static Matrix WeightMatrix(size_t N, Vector X);
static Matrix WeightMatrix(size_t N, Vector X, double a, double b);
static gtsam::Matrix WeightMatrix(size_t N, gtsam::Vector X);
static gtsam::Matrix WeightMatrix(size_t N, gtsam::Vector X, double a, double b);

static Matrix CalculateWeights(size_t N, double x, double a, double b);
static Matrix DerivativeWeights(size_t N, double x, double a, double b);
static Matrix IntegrationWeights(size_t N, double a, double b);
static Matrix DifferentiationMatrix(size_t N, double a, double b);
static gtsam::Matrix CalculateWeights(size_t N, double x, double a, double b);
static gtsam::Matrix DerivativeWeights(size_t N, double x, double a, double b);
static gtsam::Matrix IntegrationWeights(size_t N, double a, double b);
static gtsam::Matrix DifferentiationMatrix(size_t N, double a, double b);
};

#include <gtsam/basis/BasisFactors.h>
Expand All @@ -64,10 +64,10 @@ template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
VectorEvaluationFactor();
VectorEvaluationFactor(gtsam::Key key, const Vector& z,
VectorEvaluationFactor(gtsam::Key key, const gtsam::Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x);
VectorEvaluationFactor(gtsam::Key key, const Vector& z,
VectorEvaluationFactor(gtsam::Key key, const gtsam::Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x, double a, double b);
};
Expand Down Expand Up @@ -116,10 +116,10 @@ template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
VectorDerivativeFactor();
VectorDerivativeFactor(gtsam::Key key, const Vector& z,
VectorDerivativeFactor(gtsam::Key key, const gtsam::Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x);
VectorDerivativeFactor(gtsam::Key key, const Vector& z,
VectorDerivativeFactor(gtsam::Key key, const gtsam::Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x, double a, double b);
};
Expand Down
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