Use doublecross instead of cross(Cross(a, b)) in NavState #4312
Workflow file for this run
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| name: Windows CI | |
| on: | |
| pull_request: | |
| paths-ignore: | |
| - '**.md' | |
| - '**.ipynb' | |
| - 'myst.yml' | |
| # Cancels any in-progress workflow runs for the same PR when a new push is made, | |
| # allowing the runner to become available more quickly for the latest changes. | |
| 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: ${{ matrix.build_unstable }} | |
| BOOST_VERSION: 1.72.0 | |
| BOOST_EXE: boost_1_72_0-msvc-14.2 | |
| strategy: | |
| fail-fast: true | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: [ | |
| windows-2022-cl, | |
| ] | |
| build_type: [ | |
| Debug, | |
| Release | |
| ] | |
| build_unstable: [ON] | |
| include: | |
| - name: windows-2022-cl | |
| os: windows-2022 | |
| compiler: cl | |
| platform: 64 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Setup msbuild | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x${{ matrix.platform }} | |
| toolset: 14.40 | |
| - name: cl version | |
| shell: cmd | |
| run: cl | |
| - name: Install Dependencies | |
| shell: powershell | |
| run: | | |
| iwr -useb get.scoop.sh -outfile 'install_scoop.ps1' | |
| .\install_scoop.ps1 -RunAsAdmin | |
| scoop install cmake --global # So we don't get issues with CMP0074 policy | |
| scoop install ninja --global | |
| if ("${{ matrix.compiler }}".StartsWith("clang")) { | |
| scoop install llvm --global | |
| } | |
| if ("${{ matrix.compiler }}" -eq "gcc") { | |
| scoop install gcc --global | |
| echo "CC=gcc" >> $GITHUB_ENV | |
| echo "CXX=g++" >> $GITHUB_ENV | |
| } elseif ("${{ matrix.compiler }}" -eq "clang") { | |
| echo "CC=clang" >> $GITHUB_ENV | |
| echo "CXX=clang++" >> $GITHUB_ENV | |
| } else { | |
| echo "CC=${{ matrix.compiler }}" >> $env:GITHUB_ENV | |
| echo "CXX=${{ matrix.compiler }}" >> $env:GITHUB_ENV | |
| } | |
| # Scoop modifies the PATH so we make the modified PATH global. | |
| echo "$env:PATH" >> $env:GITHUB_PATH | |
| - name: Install Boost | |
| if: matrix.build_type == 'Release' | |
| shell: powershell | |
| run: | | |
| # Snippet from: https://github.com/actions/virtual-environments/issues/2667 | |
| $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64" | |
| # Use the prebuilt binary for Windows | |
| $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe" | |
| # Create WebClient with appropriate settings and download Boost exe | |
| $wc = New-Object System.Net.Webclient | |
| $wc.Headers.Add("User-Agent: Other"); | |
| $wc.DownloadFile($Url, "$env:TEMP\boost.exe") | |
| Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH" | |
| # Set the BOOST_ROOT variable | |
| echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV | |
| - name: Configuration | |
| shell: bash | |
| run: | | |
| export CMAKE_GENERATOR=Ninja | |
| # Convert Windows backslashes to forward slashes for CMake | |
| BOOST_ROOT_UNIX=$(echo "$BOOST_ROOT" | sed 's/\\/\//g') | |
| cmake -E remove_directory build | |
| if [ "${{ matrix.build_type }}" = "Release" ]; then | |
| cmake -B build \ | |
| -S . \ | |
| -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ | |
| -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \ | |
| -DGTSAM_USE_BOOST_FEATURES=ON \ | |
| -DGTSAM_ENABLE_BOOST_SERIALIZATION=ON \ | |
| -DBOOST_ROOT="${BOOST_ROOT_UNIX}" \ | |
| -DBOOST_INCLUDEDIR="${BOOST_ROOT_UNIX}/include" \ | |
| -DBOOST_LIBRARYDIR="${BOOST_ROOT_UNIX}/lib" | |
| else | |
| cmake -B build \ | |
| -S . \ | |
| -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ | |
| -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \ | |
| -DGTSAM_USE_BOOST_FEATURES=OFF \ | |
| -DGTSAM_ENABLE_BOOST_SERIALIZATION=OFF | |
| fi | |
| - name: Build | |
| shell: bash | |
| run: | | |
| # Since Visual Studio is a multi-generator, we need to use --config | |
| # https://stackoverflow.com/a/24470998/1236990 | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target all.tests | |
| - name: Test | |
| shell: bash | |
| run: | | |
| # Run GTSAM tests | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam | |
| # Run GTSAM_UNSTABLE tests | |
| cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable | |
| # Compile. Fail with exception | |
| # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition | |
| # Run all tests | |
| # cmake --build build -j1 --config ${{ matrix.build_type }} --target check |