Use doublecross instead of cross(Cross(a, b)) in NavState #4191
Workflow file for this run
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Special Cases 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: ${{ matrix.build_type }} | |
| GTSAM_BUILD_UNSTABLE: ON | |
| GTSAM_SINGLE_TEST_EXE: ON | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: | |
| [ | |
| ubuntu-clang-deprecated, | |
| ubuntu-clang-quaternions, | |
| ubuntu-clang-tbb, | |
| ubuntu-clang-cayleymap, | |
| ubuntu-clang-system-libs, | |
| ubuntu-no-unstable, | |
| ubuntu-build-examples, | |
| ] | |
| build_type: [Release] | |
| include: | |
| - name: ubuntu-clang-deprecated | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: deprecated | |
| - name: ubuntu-clang-quaternions | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: quaternions | |
| - name: ubuntu-clang-tbb | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: tbb | |
| - name: ubuntu-clang-cayleymap | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: cayley | |
| - name: ubuntu-clang-system-libs | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: system | |
| - name: ubuntu-no-unstable | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: no_unstable | |
| - name: ubuntu-build-examples | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "14" | |
| flag: build_examples | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Install (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get -y update | |
| sudo apt-get -y install software-properties-common | |
| # LLVM (clang) 9/14 is not in 22.04 (jammy)'s repositories so we add the official LLVM repository. | |
| if [ "${{ 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 $LLVM_KEY | sudo apt-key add - | |
| sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main" | |
| fi | |
| sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build | |
| sudo apt-get install -y clang-${{ matrix.version }} g++-multilib mold | |
| echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV | |
| - 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: Build Examples | |
| if: matrix.flag == 'build_examples' | |
| run: | | |
| echo "GTSAM_BUILD_EXAMPLES_ALWAYS=ON" >> $GITHUB_ENV | |
| - 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 | |
| sudo apt-get install libmetis-dev | |
| echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV | |
| - 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: Create swap (Linux only) | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Attempts to create and enable a swap file at /mnt/swapfile. | |
| # It tries different sizes (8G, 4G, 2G, 1G) until successful. | |
| set -euo pipefail | |
| SWAP=/mnt/swapfile | |
| sudo swapoff $SWAP 2>/dev/null || true | |
| sudo rm -f $SWAP | |
| for SIZE in 8 4 2 1; do | |
| if sudo fallocate -l ${SIZE}G $SWAP; then | |
| sudo chmod 600 $SWAP | |
| sudo mkswap $SWAP | |
| sudo swapon $SWAP && break | |
| fi | |
| sudo rm -f $SWAP | |
| done | |
| # Displays active swap spaces at the end. | |
| swapon --show | |
| - name: Build & Test | |
| env: | |
| LDFLAGS: "-fuse-ld=mold" | |
| run: | | |
| export CMAKE_EXE_LINKER_FLAGS="$LDFLAGS" | |
| export CMAKE_SHARED_LINKER_FLAGS="$LDFLAGS" | |
| bash .github/scripts/unix.sh -t |