Update README.md with release 4.2 #2535
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name: Special Cases CI | |
on: [pull_request] | |
# Every time you make a push to your PR, it cancel immediately the previous checks, | |
# and start a new one. The other runner will be available more quickly to your PR. | |
concurrency: | |
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
cancel-in-progress: true | |
jobs: | |
build: | |
name: ${{ matrix.name }} ${{ matrix.build_type }} | |
runs-on: ${{ matrix.os }} | |
env: | |
CTEST_OUTPUT_ON_FAILURE: ON | |
CTEST_PARALLEL_LEVEL: 2 | |
CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | |
GTSAM_BUILD_UNSTABLE: ON | |
strategy: | |
fail-fast: false | |
matrix: | |
# Github Actions requires a single row to be added to the build matrix. | |
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
name: | |
[ | |
ubuntu-clang-deprecated, | |
ubuntu-clang-quaternions, | |
ubuntu-clang-tbb, | |
ubuntu-clang-cayleymap, | |
ubuntu-clang-system-libs, | |
ubuntu-no-boost, | |
ubuntu-no-unstable, | |
] | |
build_type: [Debug, Release] | |
include: | |
- name: ubuntu-clang-deprecated | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: deprecated | |
- name: ubuntu-clang-quaternions | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: quaternions | |
- name: ubuntu-clang-tbb | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: tbb | |
- name: ubuntu-clang-cayleymap | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: cayley | |
- name: ubuntu-clang-system-libs | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: system | |
- name: ubuntu-no-boost | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: no_boost | |
- name: ubuntu-no-unstable | |
os: ubuntu-22.04 | |
compiler: clang | |
version: "14" | |
flag: no_unstable | |
steps: | |
- name: Checkout | |
uses: actions/checkout@v3 | |
- name: Install (Linux) | |
if: runner.os == 'Linux' | |
run: | | |
sudo apt-get -y update | |
sudo apt-get -y install software-properties-common | |
# LLVM (clang) 9/14 is not in 22.04 (jammy)'s repositories so we add the official LLVM repository. | |
if [ "${{ matrix.compiler }}" = "clang" ]; then | |
# (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool | |
# ipv4 avoids potential timeouts because of crappy IPv6 infrastructure | |
# 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository | |
# This key is not in the keystore by default for Ubuntu so we need to add it. | |
LLVM_KEY=15CF4D18AF4F7421 | |
gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY | |
gpg -a --export $LLVM_KEY | sudo apt-key add - | |
sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main" | |
fi | |
sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build | |
if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib | |
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV | |
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV | |
else | |
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib | |
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV | |
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV | |
fi | |
- name: Install Boost | |
if: runner.os == 'Linux' | |
run: | | |
sudo apt-get -y install libboost-all-dev | |
- name: Install (macOS) | |
if: runner.os == 'macOS' | |
run: | | |
brew install cmake ninja boost | |
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app | |
echo "CC=clang" >> $GITHUB_ENV | |
echo "CXX=clang++" >> $GITHUB_ENV | |
- name: Set Allow Deprecated Flag | |
if: matrix.flag == 'deprecated' | |
run: | | |
echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV | |
echo "Allow deprecated since version 4.3" | |
- name: Set Use Quaternions Flag | |
if: matrix.flag == 'quaternions' | |
run: | | |
echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV | |
echo "Use Quaternions for rotations" | |
- name: Set GTSAM_WITH_TBB Flag | |
if: matrix.flag == 'tbb' | |
run: | | |
echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV | |
echo "GTSAM Uses TBB" | |
- name: Use Cayley Transform for Rot3 | |
if: matrix.flag == 'cayley' | |
run: | | |
echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV | |
echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV | |
echo "GTSAM Uses Cayley map for Rot3" | |
- name: Use system versions of 3rd party libraries | |
if: matrix.flag == 'system' | |
run: | | |
sudo apt-get install libeigen3-dev | |
echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV | |
# TODO(dellaert): This does not work yet? | |
# sudo apt-get install metis | |
# echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV | |
- name: Turn off boost | |
if: matrix.flag == 'no_boost' | |
run: | | |
echo "GTSAM_ENABLE_BOOST_SERIALIZATION=OFF" >> $GITHUB_ENV | |
echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV | |
echo "GTSAM will not use BOOST" | |
- name: Turn off unstable | |
if: matrix.flag == 'no_unstable' | |
run: | | |
echo "GTSAM_BUILD_UNSTABLE=OFF" >> $GITHUB_ENV | |
echo "GTSAM 'unstable' will not be built." | |
- name: Set Swap Space | |
if: runner.os == 'Linux' | |
uses: pierotofy/set-swap-space@master | |
with: | |
swap-size-gb: 12 | |
- name: Build & Test | |
run: | | |
bash .github/scripts/unix.sh -t |