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Add vcpkg ci
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‎.github/workflows/linux.yml

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name: Linux
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on:
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pull_request:
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branches:
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- "*" # Pull request for all branches
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schedule:
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- cron: '10 12 * * 0'
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# Every time you make a push to your PR, it cancel immediately the previous checks,
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# and start a new one. The other runner will be available more quickly to your PR.
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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jobs:
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build:
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name: vcpkg-ubuntu-${{ matrix.type }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- type: x64
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BUILD_DIR: gtsam/3rdparty/vcpkg/cache
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VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
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VCPKG_LINK: https://github.com/microsoft/vcpkg/
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VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
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BINARY_CACHE: gtsam/3rdparty/cache/linux
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env:
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BUILD_DIR: ${{ matrix.BUILD_DIR }}
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VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
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VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
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VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
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BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Cache dependencies
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uses: actions/cache/restore@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: linux-${{ hashFiles('.github/workflows/linux.yml') }}
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restore-keys: linux-${{ hashFiles('.github/workflows/linux.yml') }}
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- name: Install ninja
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if: success()
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run: |
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sudo apt install -y ninja-build
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ninja --version
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whereis ninja
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- name: Init vcpkg
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if: success()
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run: |
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mkdir -p $BUILD_DIR
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git -C $BUILD_DIR clone $VCPKG_LINK
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- name: Vcpkg build & cmake config
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if: success()
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run: |
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export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
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mkdir -p $BINARY_CACHE
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export CMAKE_GENERATOR=Ninja
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cmake . -B build \
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-DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
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-DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
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-DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
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-DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
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-DVCPKG_TARGET_TRIPLET=x64-linux-release \
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-DVCPKG_INSTALL_OPTIONS=--clean-after-build \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
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-DGTSAM_ROT3_EXPMAP=ON \
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-DGTSAM_POSE3_EXPMAP=ON \
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-DGTSAM_BUILD_PYTHON=ON \
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-DGTSAM_BUILD_TESTS=ON \
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-DGTSAM_BUILD_UNSTABLE=ON \
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-DGTSAM_USE_SYSTEM_EIGEN=ON \
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-DGTSAM_USE_SYSTEM_METIS=ON \
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-DGTSAM_SUPPORT_NESTED_DISSECTION=ON
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- name: Save cache dependencies
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id: cache-save
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uses: actions/cache/save@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: linux-${{ hashFiles('.github/workflows/linux.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
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- name: Cmake build
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if: success()
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run: |
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cmake --build build --config Release -j 2
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- name: Run tests
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if: success()
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run: |
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# metis test are failing. remove this comment when fix it.
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# cmake --build build --target check -j 2

‎.github/workflows/osx.yml

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name: OSX
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on:
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pull_request:
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branches:
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- "*" # Pull request for all branches
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schedule:
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- cron: '10 12 * * 0'
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# Every time you make a push to your PR, it cancel immediately the previous checks,
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# and start a new one. The other runner will be available more quickly to your PR.
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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jobs:
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build:
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name: vcpkg-macos-${{ matrix.type }}
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runs-on: macos-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- type: x64
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BUILD_DIR: gtsam/3rdparty/vcpkg/cache
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VCPKG_ROOT: gtsam/3rdparty/vcpkg/cache/vcpkg
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VCPKG_LINK: https://github.com/microsoft/vcpkg/
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VCPKG_CONFIGS: gtsam/3rdparty/vcpkg
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BINARY_CACHE: gtsam/3rdparty/cache/osx
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env:
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BUILD_DIR: ${{ matrix.BUILD_DIR }}
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VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
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VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
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VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
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BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Cache dependencies
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uses: actions/cache/restore@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: osx-${{ hashFiles('.github/workflows/osx.yml') }}
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restore-keys: osx-${{ hashFiles('.github/workflows/osx.yml') }}
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- name: Install Dependencies
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run: |
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sudo xcode-select -switch /Applications/Xcode.app
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- name: Install python packages
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if: success()
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run: |
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pip3 install pyparsing
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- name: Install ninja
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if: success()
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run: |
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brew install ninja
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ninja --version
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whereis ninja
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- name: Init vcpkg
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if: success()
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run: |
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mkdir -p $BUILD_DIR
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git -C $BUILD_DIR clone $VCPKG_LINK
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- name: Vcpkg build & cmake config
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if: success()
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run: |
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export VCPKG_BINARY_SOURCES="clear;files,$PWD/$BINARY_CACHE,readwrite;"
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mkdir -p $BINARY_CACHE
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export CMAKE_GENERATOR=Ninja
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cmake . -B build \
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-DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake \
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-DVCPKG_MANIFEST_DIR=$VCPKG_CONFIGS/manifest \
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-DVCPKG_INSTALLED_DIR=$VCPKG_ROOT/installed \
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-DVCPKG_OVERLAY_TRIPLETS=$VCPKG_CONFIGS/triplets \
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-DVCPKG_TARGET_TRIPLET=x64-osx-release \
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-DVCPKG_INSTALL_OPTIONS=--clean-after-build \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
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-DGTSAM_ROT3_EXPMAP=ON \
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-DGTSAM_POSE3_EXPMAP=ON \
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-DGTSAM_BUILD_PYTHON=ON \
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-DGTSAM_BUILD_TESTS=ON \
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-DGTSAM_BUILD_UNSTABLE=ON \
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-DGTSAM_USE_SYSTEM_EIGEN=ON \
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-DGTSAM_USE_SYSTEM_METIS=ON \
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-DGTSAM_SUPPORT_NESTED_DISSECTION=ON
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- name: Save cache dependencies
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id: cache-save
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uses: actions/cache/save@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: osx-${{ hashFiles('.github/workflows/osx.yml') }}-${{ hashFiles('gtsam/3rdparty/vcpkg/cache/vcpkg/installed/vcpkg/updates/*') }}
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- name: Cmake build
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if: success()
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run: |
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cmake --build build --config Release -j 2
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- name: Run tests
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if: success()
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run: |
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# metis test are failing. remove this comment when fix it.
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# cmake --build build --target check -j 2

‎.github/workflows/windows.yml

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name: Windows
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on:
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pull_request:
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branches:
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- "*" # Pull request for all branches
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schedule:
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- cron: '10 12 * * 0'
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# Every time you make a push to your PR, it cancel immediately the previous checks,
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# and start a new one. The other runner will be available more quickly to your PR.
11+
concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
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cancel-in-progress: true
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jobs:
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build:
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name: vcpkg-windows-${{ matrix.type }}
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runs-on: windows-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- type: x64
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BUILD_DIR: gtsam\3rdparty\vcpkg\cache
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VCPKG_ROOT: gtsam\3rdparty\vcpkg\cache\vcpkg
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VCPKG_LINK: https://github.com/microsoft/vcpkg/
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VCPKG_CONFIGS: gtsam\3rdparty\vcpkg
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BINARY_CACHE: gtsam\3rdparty\vcpkg\cache\windows
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env:
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BUILD_DIR: ${{ matrix.BUILD_DIR }}
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VCPKG_ROOT: ${{ matrix.VCPKG_ROOT }}
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VCPKG_LINK: ${{ matrix.VCPKG_LINK }}
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VCPKG_CONFIGS: ${{ matrix.VCPKG_CONFIGS }}
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BINARY_CACHE: ${{ matrix.BINARY_CACHE }}
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Restore cache dependencies
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uses: actions/cache/restore@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: windows-${{ hashFiles('.github/workflows/windows.yml') }}
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restore-keys: windows-${{ hashFiles('.github/workflows/windows.yml') }}
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- name: Setup msbuild
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x64
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- uses: actions/setup-python@v4
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with:
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python-version: '3.11'
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- name: Install python packages
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if: success()
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shell: cmd
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run: |
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:: choco install python311
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:: where python3.11.exe
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:: dir c:\python311
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:: C:\ProgramData\Chocolatey\bin\python3.11.exe -m pip --version
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:: C:\ProgramData\chocolatey\bin\python3.11.exe -m pip install pyparsing
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python --version
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python -m pip --version
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python -m pip install pyparsing
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- name: Install ninja
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if: success()
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shell: cmd
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run: |
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choco install ninja
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ninja --version
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where ninja
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- name: Fix vcpkg
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run: vcpkg.exe integrate remove
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- name: Init vcpkg
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if: success()
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shell: cmd
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run: |
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mkdir -p %BUILD_DIR%
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git -C %BUILD_DIR% clone %VCPKG_LINK%
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- name: Vcpkg build & cmake config
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if: success()
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shell: cmd
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run: |
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set VCPKG_ROOT=${{ matrix.VCPKG_ROOT }}
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set VCPKG_BINARY_SOURCES=clear;files,%CD%\%BINARY_CACHE%,readwrite;
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mkdir %BINARY_CACHE%
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set CMAKE_GENERATOR=Ninja
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set CL=-openmp:experimental
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cmake . -B build ^
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-DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake ^
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-DVCPKG_MANIFEST_DIR=%VCPKG_CONFIGS%\manifest ^
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-DVCPKG_INSTALLED_DIR=%VCPKG_ROOT%\installed ^
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-DVCPKG_OVERLAY_TRIPLETS=%VCPKG_CONFIGS%\triplets ^
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-DVCPKG_TARGET_TRIPLET=x64-windows ^
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-DVCPKG_INSTALL_OPTIONS=--clean-after-build ^
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF ^
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-DGTSAM_ROT3_EXPMAP=ON ^
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-DGTSAM_POSE3_EXPMAP=ON ^
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-DGTSAM_BUILD_PYTHON=OFF ^
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-DGTSAM_BUILD_TESTS=ON ^
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-DGTSAM_BUILD_UNSTABLE=OFF ^
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-DGTSAM_USE_SYSTEM_EIGEN=ON ^
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-DGTSAM_USE_SYSTEM_METIS=ON ^
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-DGTSAM_SUPPORT_NESTED_DISSECTION=ON
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- name: Save cache dependencies
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id: cache-save
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uses: actions/cache/save@v3
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with:
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path: |
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${{ matrix.BINARY_CACHE }}
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key: windows-${{ hashFiles('.github/workflows/windows.yml') }}-${{ hashFiles('gtsam\3rdparty\vcpkg\cache\vcpkg\installed\vcpkg\updates\*') }}
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- name: Cmake build
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if: success()
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shell: cmd
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run: |
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cmake --build build --config Release -j 2
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- name: Run tests
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if: success()
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shell: cmd
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run: |
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:: metis test are failing. remove this comment when fix it.
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:: cmake --build build --target check -j 1

‎.gitignore

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xcode/
2020
/Dockerfile
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/python/gtsam/notebooks/.ipynb_checkpoints/ellipses-checkpoint.ipynb
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gtsam/3rdparty/vcpkg/cache

‎cmake/HandleMetis.cmake

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@@ -13,10 +13,9 @@ option(GTSAM_USE_SYSTEM_METIS "Find and use system-installed libmetis. If 'off',
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if(GTSAM_USE_SYSTEM_METIS)
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# Debian package: libmetis-dev
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find_path(METIS_INCLUDE_DIR metis.h REQUIRED)
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find_library(METIS_LIBRARY metis REQUIRED)
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find_package(metis CONFIG REQUIRED)
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if(METIS_INCLUDE_DIR AND METIS_LIBRARY)
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if(metis_FOUND)
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mark_as_advanced(METIS_INCLUDE_DIR)
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mark_as_advanced(METIS_LIBRARY)
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$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
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$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
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)
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target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY})
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target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY} metis)
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endif()
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else()
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# Bundled version:

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