Use doublecross instead of cross(Cross(a, b)) in NavState #7274
Workflow file for this run
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| name: Linux 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: ${{ matrix.build_unstable }} | |
| GTSAM_ALLOW_DEPRECATED_SINCE_V43: OFF | |
| strategy: | |
| fail-fast: true | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: [ | |
| # "Bracket" the versions from GCC [9-14] and Clang [11-16] | |
| ubuntu-22.04-gcc-9, | |
| ubuntu-22.04-clang-11, | |
| ubuntu-24.04-gcc-14, | |
| ubuntu-24.04-clang-16, | |
| ubuntu-24.04-clang-16-boost, | |
| ] | |
| build_type: [Debug, Release] | |
| build_unstable: [ON] | |
| include: | |
| - name: ubuntu-22.04-gcc-9 | |
| os: ubuntu-22.04 | |
| compiler: gcc | |
| version: "9" | |
| - name: ubuntu-22.04-clang-11 | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "11" | |
| - name: ubuntu-24.04-gcc-14 | |
| os: ubuntu-24.04 | |
| compiler: gcc | |
| version: "14" | |
| - name: ubuntu-24.04-clang-16 | |
| os: ubuntu-24.04 | |
| compiler: clang | |
| version: "16" | |
| - name: ubuntu-24.04-clang-16-boost | |
| os: ubuntu-24.04 | |
| compiler: clang | |
| version: "16" | |
| exclude: | |
| - name: ubuntu-24.04-clang-16-boost | |
| build_type: Debug | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Install Dependencies | |
| run: | | |
| # LLVM (clang) 9/14 is not in Bionic's repositories so we add the official LLVM repository. | |
| if [ "${{ 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 $LLVM_KEY | sudo apt-key add - | |
| sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" | |
| fi | |
| sudo apt-get -y update | |
| sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib binutils-gold | |
| 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 mold | |
| echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV | |
| fi | |
| - name: Install Boost (Conditional) | |
| if: contains(matrix.name, 'boost') && matrix.build_type == 'Release' | |
| run: | | |
| sudo apt-get -y install libboost-all-dev | |
| echo "GTSAM_USE_BOOST_FEATURES=ON" >> $GITHUB_ENV | |
| echo "GTSAM_ENABLE_BOOST_SERIALIZATION=ON" >> $GITHUB_ENV | |
| - name: Build and Test | |
| run: | | |
| # Set linker flags based on compiler | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| export LDFLAGS="-fuse-ld=gold" | |
| elif [ "${{ matrix.compiler }}" = "clang" ]; then | |
| export LDFLAGS="-fuse-ld=mold" | |
| else | |
| export LDFLAGS="" | |
| fi | |
| export CMAKE_EXE_LINKER_FLAGS="$LDFLAGS" | |
| export CMAKE_SHARED_LINKER_FLAGS="$LDFLAGS" | |
| bash .github/scripts/unix.sh -t |