Merge branch 'develop' into fix/windows-tests

borglab · Jul 18, 2023 · f2bf88b · f2bf88b
2 parents e00e123 + 016f77b
commit f2bf88b
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Showing 38 changed files with 529 additions and 609 deletions.
diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
@@ -31,6 +31,7 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions depr
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
+option(GTSAM_SLOW_BUT_CORRECT_EXPMAP        "Use slower but correct expmap for Pose2"  OFF)
 
 if (GTSAM_FORCE_SHARED_LIB)
     message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")

diff --git a/cmake/HandleTBB.cmake b/cmake/HandleTBB.cmake
@@ -14,7 +14,7 @@ if (GTSAM_WITH_TBB)
         endif()
         # all definitions and link requisites will go via imported targets:
         # tbb & tbbmalloc
-        list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
+        list(APPEND GTSAM_ADDITIONAL_LIBRARIES TBB::tbb TBB::tbbmalloc)
     else()
         set(GTSAM_USE_TBB 0)  # This will go into config.h
     endif()

diff --git a/gtsam/base/Group.h b/gtsam/base/Group.h
@@ -22,13 +22,6 @@
 
 #include <gtsam/base/Testable.h>
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/concept_check.hpp>
-#include <boost/concept/requires.hpp>
-#include <boost/type_traits/is_base_of.hpp>
-#include <boost/static_assert.hpp>
-#endif
-
 #include <utility>
 
 namespace gtsam {

diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
@@ -19,9 +19,10 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
+#include <algorithm>
+#include <cassert>
 #include <cmath>
 #include <cstddef>
-#include <cassert>
 #include <iomanip>
 #include <iostream>
 #include <map>

diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
@@ -138,6 +138,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
 /** Traverse a forest depth-first with pre-order and post-order visits.
  *  @param forest The forest of trees to traverse.  The method \c forest.roots() should exist
  *         and return a collection of (shared) pointers to \c FOREST::Node.
+ *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
+ *         root node.
  *  @param visitorPre \c visitorPre(node, parentData) will be called at every node, before
  *         visiting its children, and will be passed, by reference, the \c DATA object returned
  *         by the visit to its parent.  Likewise, \c visitorPre should return the \c DATA object
@@ -147,8 +149,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
  *  @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting
  *         its children, and will be passed, by reference, the \c DATA object returned by the
  *         call to \c visitorPre (the \c DATA object may be modified by visiting the children).
- *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
- *         root node. */
+ *  @param problemSizeThreshold
+ */
 template<class FOREST, typename DATA, typename VISITOR_PRE,
     typename VISITOR_POST>
 void DepthFirstForestParallel(FOREST& forest, DATA& rootData,