Use doublecross instead of cross(Cross(a, b)) in NavState #416
Workflow file for this run
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| name: vcpkg | |
| on: | |
| pull_request: | |
| push: | |
| # Runs on pushes targeting the develop branch | |
| branches: [develop] | |
| # 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.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: windows-latest | |
| triplet: x64-windows-release | |
| build_type: Release | |
| test_target: RUN_TESTS | |
| binary_cache: C:\Users\runneradmin\AppData\Local\vcpkg\archives | |
| python: python | |
| # check_constrained_program fail on windows. should fix it for windows. | |
| # Remove this excluded test when you fix it for windows. | |
| ctest_extra_flags: -E "check_constrained_program|check_inference_program|check_symbolic_program|check_discrete_program" | |
| # Exclude test_sumProduct and test_sumProduct_chain from pytest on windows. | |
| # These tests should be fixed for windows. | |
| pytest_extra_flags: -k "not test_sumProduct" | |
| - os: ubuntu-latest | |
| triplet: x64-linux-release | |
| build_type: Release | |
| test_target: test | |
| binary_cache: /home/runner/.cache/vcpkg/archives | |
| python: python3 | |
| - os: macos-latest | |
| triplet: arm64-osx-release | |
| build_type: Release | |
| test_target: test | |
| binary_cache: /Users/runner/.cache/vcpkg/archives | |
| python: python3 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Restore cache dependencies | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: ${{ matrix.binary_cache }} | |
| key: ${{ matrix.os }} | |
| restore-keys: ${{ matrix.os }} | |
| - name: Setup msbuild | |
| if: runner.os == 'Windows' | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x64 | |
| toolset: 14.40 | |
| - name: cl version | |
| if: runner.os == 'Windows' | |
| shell: cmd | |
| run: cl | |
| - name: Install vcpkg python dependencies | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| sudo apt-get install autoconf automake autoconf-archive | |
| - name: Install vcpkg python dependencies | |
| if: runner.os == 'macOS' | |
| shell: bash | |
| run: | | |
| brew install autoconf automake autoconf-archive | |
| - name: "Install dependencies" | |
| run: > | |
| vcpkg x-set-installed --triplet ${{ matrix.triplet }} --host-triplet ${{ matrix.triplet }} | |
| boost-assign | |
| boost-bimap | |
| boost-chrono | |
| boost-date-time | |
| boost-filesystem | |
| boost-format | |
| boost-graph | |
| boost-math | |
| boost-program-options | |
| boost-regex | |
| boost-serialization | |
| boost-system | |
| boost-thread | |
| boost-timer | |
| eigen3 | |
| tbb | |
| pybind11 | |
| - name: copy files for hash | |
| shell: bash | |
| run: | | |
| VCPKG_BASH_PATH=${VCPKG_INSTALLATION_ROOT//\\//} | |
| echo $VCPKG_BASH_PATH | |
| mkdir -p vcpkg-info | |
| find $VCPKG_BASH_PATH/installed/ -type f -name 'vcpkg_abi_info.txt' | \ | |
| while read filepath; do | |
| triplet=$(echo "$filepath" | awk -F/ '{print $(NF-3)}') | |
| port=$(echo "$filepath" | awk -F/ '{print $(NF-1)}') | |
| cp "$filepath" "vcpkg-info/${triplet}_${port}.txt" | |
| done | |
| - name: Save cache dependencies | |
| uses: actions/cache/save@v4 | |
| with: | |
| path: ${{ matrix.binary_cache }} | |
| key: ${{ matrix.os }}-${{ hashFiles('vcpkg-info/*') }} | |
| - name: Install python packages | |
| shell: bash | |
| run: | | |
| $VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/tools/python3/${{ matrix.python }} -m ensurepip --upgrade | |
| $VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/tools/python3/${{ matrix.python }} -m pip install -r python/dev_requirements.txt | |
| - name: cmake config | |
| if: success() | |
| shell: bash | |
| run: | | |
| export CL=-openmp | |
| cmake . -B build -G Ninja \ | |
| -DCMAKE_TOOLCHAIN_FILE=$VCPKG_INSTALLATION_ROOT/scripts/buildsystems/vcpkg.cmake \ | |
| -DVCPKG_INSTALLED_DIR=$VCPKG_INSTALLATION_ROOT/installed \ | |
| -DVCPKG_TARGET_TRIPLET=${{ matrix.triplet }} \ | |
| -DVCPKG_HOST_TRIPLET=${{ matrix.triplet }} \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \ | |
| -DGTSAM_ROT3_EXPMAP=ON \ | |
| -DGTSAM_POSE3_EXPMAP=ON \ | |
| -DGTSAM_BUILD_PYTHON=ON \ | |
| -DGTSAM_BUILD_TESTS=ON \ | |
| -DGTSAM_BUILD_UNSTABLE=ON \ | |
| -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \ | |
| -DGTSAM_USE_SYSTEM_EIGEN=ON \ | |
| -DGTSAM_USE_SYSTEM_METIS=OFF \ | |
| -DGTSAM_USE_SYSTEM_PYBIND=ON \ | |
| -DGTSAM_SUPPORT_NESTED_DISSECTION=ON \ | |
| -DCTEST_EXTRA_ARGS='${{ matrix.ctest_extra_flags }}' \ | |
| -DPYTEST_EXTRA_ARGS='${{ matrix.pytest_extra_flags }}' | |
| - name: cmake build | |
| shell: bash | |
| run: | | |
| cmake --build build --config ${{ matrix.build_type }} | |
| - name: Run Python tests | |
| shell: bash | |
| run: | | |
| export PATH="$PATH:$VCPKG_INSTALLATION_ROOT/installed/${{ matrix.triplet }}/bin" | |
| cmake --build build --target python-install | |
| cmake --build build --target python-test | |
| cmake --build build --target python-test-unstable | |
| - name: Run tests | |
| shell: bash | |
| run: | | |
| cmake --build build --config ${{ matrix.build_type }} --target check |