Disable unused sparse lmpar that causes trouble with newer GCCs; add …

…CMakePresets (#43)

.github/workflows/build_and_test.yml

@@ -13,8 +13,6 @@ jobs:
 
     strategy:
       fail-fast: false
-      matrix:
-        build_type: [Debug, Release]
 
     steps:
     - uses: actions/checkout@v2
@@ -23,21 +21,15 @@ jobs:
       run: |
         sudo apt-get update
         sudo apt-get install -y --no-install-recommends \
+        lcov \
         libboost-dev \
-        libgtest-dev
-
-    - name: Install Eigen 3.4
-      run: |
-        git clone --branch 3.4.0 https://gitlab.com/libeigen/eigen.git ${{ github.workspace }}/deps/eigen
-        cmake \
-          -S ${{ github.workspace }}/deps/eigen \
-          -B ${{ github.workspace }}/deps/eigen/build
-        cmake --build ${{ github.workspace }}/deps/eigen/build
-        sudo cmake --install ${{ github.workspace }}/deps/eigen/build
+        libeigen3-dev \
+        libgtest-dev \
+        ninja-build
 
     - name: Install autodiff
       run: |
-        git clone --branch v0.6.8 https://github.com/autodiff/autodiff.git ${{ github.workspace }}/deps/autodiff
+        git clone --branch v1.0.3 https://github.com/autodiff/autodiff.git ${{ github.workspace }}/deps/autodiff
         cmake                                                  \
           -S ${{ github.workspace }}/deps/autodiff             \
           -B ${{ github.workspace }}/deps/autodiff/build       \
@@ -47,72 +39,9 @@ jobs:
         cmake --build ${{ github.workspace }}/deps/autodiff/build
         sudo cmake --install ${{ github.workspace }}/deps/autodiff/build
 
-    - name: Configure CMake
-      run: |
-        cmake -B ${{ github.workspace }}/build          \
-        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}     \
-        -DBUILD_TESTS=ON                                \
-        -DBUILD_EXAMPLES=ON
-
-    - name: Build
-      working-directory: ${{ github.workspace }}/build
-      run: make -j2
-
-    - name: Test
-      working-directory: ${{ github.workspace }}/build
-      run: make test
-
-  codecov:
-    runs-on: ubuntu-22.04
-
-    steps:
-    - uses: actions/checkout@v2
-
-    - name: Install dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y --no-install-recommends \
-        lcov \
-        libboost-dev \
-        libgtest-dev
-
-    - name: Install Eigen 3.4
-      run: |
-        git clone --branch 3.4.0 https://gitlab.com/libeigen/eigen.git ${{ github.workspace }}/deps/eigen
-        cmake \
-          -S ${{ github.workspace }}/deps/eigen \
-          -B ${{ github.workspace }}/deps/eigen/build
-        cmake --build ${{ github.workspace }}/deps/eigen/build
-        sudo cmake --install ${{ github.workspace }}/deps/eigen/build
-
-    - name: Install autodiff
-      run: |
-        git clone --branch v0.6.8 https://github.com/autodiff/autodiff.git ${{ github.workspace }}/deps/autodiff
-        cmake \
-          -S ${{ github.workspace }}/deps/autodiff \
-          -B ${{ github.workspace }}/deps/autodiff/build \
-          -DAUTODIFF_BUILD_EXAMPLES=OFF \
-          -DAUTODIFF_BUILD_TESTS=OFF \
-          -DAUTODIFF_BUILD_PYTHON=OFF
-        cmake --build ${{ github.workspace }}/deps/autodiff/build
-        sudo cmake --install ${{ github.workspace }}/deps/autodiff/build
-
-    - name: Configure CMake
-      run: |
-        cmake -B ${{ github.workspace }}/build            \
-        -DCMAKE_BUILD_TYPE=Debug                          \
-        -DCMAKE_CXX_FLAGS="-O0 -g --coverage -fno-inline" \
-        -DCMAKE_EXE_LINKER_FLAGS="--coverage"             \
-        -DBUILD_TESTS=ON                                  \
-        -DBUILD_EXAMPLES=OFF
-
-    - name: Build
-      working-directory: ${{ github.workspace }}/build
-      run: make -j2
-
-    - name: Test
-      working-directory: ${{ github.workspace }}/build
-      run: make test
+    - name: Run cmake workflow
+      working-directory: ${{ github.workspace }}
+      run: cmake --workflow --preset ci
 
     - name: Analyze coverage
       working-directory: ${{ github.workspace }}

CMakePresets.json

@@ -0,0 +1,92 @@
+{
+  "version": 6,
+  "cmakeMinimumRequired": {
+    "major": 3,
+    "minor": 25,
+    "patch": 0
+  },
+  "configurePresets": [
+    {
+      "name": "default",
+      "displayName": "Ninja Multi-Config",
+      "description": "Default build using Ninja generator",
+      "generator": "Ninja Multi-Config",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+        "CMAKE_CONFIGURATION_TYPES": "Release;Debug",
+        "BUILD_TESTS": "ON",
+        "BUILD_EXAMPLES": "ON",
+        "ENABLE_TEST_COVERAGE": "ON",
+        "ENABLE_TEST_SANITIZERS": "OFF"
+      },
+      "environment": {},
+      "vendor": {}
+    }
+  ],
+  "buildPresets": [
+    {
+      "name": "default",
+      "configurePreset": "default"
+    },
+    {
+      "name": "debug",
+      "inherits": "default",
+      "configuration": "Debug"
+    }
+  ],
+  "testPresets": [
+    {
+      "name": "default",
+      "configurePreset": "default",
+      "output": {
+        "outputOnFailure": true
+      },
+      "execution": {
+        "noTestsAction": "error",
+        "stopOnFailure": true
+      }
+    },
+    {
+      "name": "debug",
+      "inherits": "default",
+      "configuration": "Debug"
+    }
+  ],
+  "packagePresets": [
+    {
+      "name": "default",
+      "configurePreset": "default",
+      "generators": [
+        "TGZ"
+      ]
+    }
+  ],
+  "workflowPresets": [
+    {
+      "name": "ci",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "default"
+        },
+        {
+          "type": "build",
+          "name": "debug"
+        },
+        {
+          "type": "test",
+          "name": "debug"
+        },
+        {
+          "type": "build",
+          "name": "default"
+        },
+        {
+          "type": "test",
+          "name": "default"
+        }
+      ]
+    }
+  ]
+}
+

README.md

@@ -11,10 +11,6 @@
 * Compatible with: autodiff, boost::numeric::odeint, Ceres, ROS
 * Written in an extensible functional programming style
 
-*This project is currently being developed---breaking changes and bugs should be expected.
-If you are looking for something stable and established, check out
-[manif][manif-link] and [Sophus][sophus-link].*
-
 In robotics it is often convenient to work in non-Euclidean manifolds.
 [Lie groups](https://en.wikipedia.org/wiki/Lie_group) are a class of manifolds that are
 easy to work with due to their symmetries, and that are also good models for many robotic
@@ -38,8 +34,6 @@ The following common Lie groups are implemented:
  * A smooth::Bundle type to treat Lie group products ![](https://latex.codecogs.com/png.latex?G&space;=&space;G_1&space;\times&space;\ldots&space;\times&space;G_n) as a single Lie group. The Bundle type also supports regular Eigen vectors as ![](https://latex.codecogs.com/png.latex?\mathbb{R}^n\cong\mathbb{T}(n)) components
  * Lie group interfaces for Eigen vectors and builtin scalars
 
-The guiding principles for `smooth` are **brevity, reliability and compatability**.
-
 
 # Getting started
 
@@ -53,7 +47,7 @@ mkdir build && cd build
 
 # Specify a C++20-compatible compiler if your default does not support C++20.
 # Build tests and/or examples as desired.
-cmake .. -DCMAKE_CXX_COMPILER=/usr/bin/g++-10 -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF
+cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF
 make -j8
 sudo make install
 ```

include/smooth/compat/ceres.hpp

@@ -12,12 +12,20 @@
 
 #define SMOOTH_DIFF_CERES
 
+#include "smooth/detail/wrt_impl.hpp"
+#include "smooth/lie_group_base.hpp"
 #include "smooth/manifolds.hpp"
-#include "smooth/map.hpp"
 #include "smooth/wrt.hpp"
 
 namespace smooth {
 
+// mark Jet as a valid scalar
+template<typename T, int I>
+struct detail::scalar_trait<ceres::Jet<T, I>>
+{
+  static constexpr bool value = true;
+};
+
 // \cond
 template<Manifold G>
 struct CeresParamFunctor
@@ -84,6 +92,7 @@ auto dr_ceres(auto && f, auto && x)
   Eigen::Matrix<Scalar, Nx, 1> a = Eigen::Matrix<Scalar, Nx, 1>::Zero(nx);
   Eigen::Matrix<Scalar, Ny, 1> b(ny);
   Eigen::Matrix<Scalar, Ny, Nx, (Nx == 1) ? Eigen::ColMajor : Eigen::RowMajor> jac(ny, nx);
+  jac.setZero();
 
   const auto f_deriv = [&]<typename T>(const T * in, T * out) {
     Eigen::Map<const Eigen::Matrix<T, Nx, 1>> mi(in, nx);

include/smooth/detail/lmpar.hpp

@@ -105,7 +105,7 @@ solve_ls(auto & R, const Eigen::Vector<double, N> & Qt_r, const auto & P, const
   for (; rank != n && R.coeff(rank, rank) >= Eigen::NumTraits<double>::dummy_precision(); ++rank) {}
 
   Eigen::Vector<double, N> sol(n);
-  sol.tail(n - rank).setZero();
+  sol.setZero();
   sol.head(rank) = R.topLeftCorner(rank, rank).template triangularView<Eigen::Upper>().solve(a.head(rank));
 
   // solution is now equal to -P z
@@ -190,6 +190,7 @@ lmpar(const auto & J, const Eigen::Vector<double, N> & d, const Eigen::Vector<do
   using MatrixT = std::decay_t<decltype(J)>;
 
   static constexpr bool is_sparse = std::is_base_of_v<Eigen::SparseMatrixBase<MatrixT>, MatrixT>;
+  static_assert(!is_sparse, "Use lmpar_sparse");
 
   static constexpr int NM_min  = std::min(N, M);
   static constexpr int NM_rest = NM_min == -1 ? -1 : N - NM_min;

include/smooth/detail/utils.hpp

@@ -4,6 +4,7 @@
 
 #include <array>
 #include <cstddef>
+#include <cstdint>
 #include <functional>
 #include <numeric>
 #include <ranges>

tests/CMakeLists.txt

@@ -1,3 +1,9 @@
+option(ENABLE_TEST_COVERAGE "Enable code coverage for debug build" OFF)
+message(STATUS "ENABLE_TEST_COVERAGE set to: ${ENABLE_TEST_COVERAGE}")
+
+option(ENABLE_TEST_SANITIZERS "Enable santitzers for debug build" OFF)
+message(STATUS "ENABLE_TEST_SANITIZERS set to: ${ENABLE_TEST_SANITIZERS}")
+
 include(GoogleTest)
 find_package(GTest REQUIRED)
 
@@ -10,25 +16,36 @@ add_library(TestConfig INTERFACE)
 target_compile_options(
   TestConfig
   INTERFACE -Wall
+            -Wcast-align
+            -Wconversion
+            -Wdouble-promotion
+            -Werror
             -Wextra
-            -Wshadow
+            -Wimplicit-fallthrough
             -Wnon-virtual-dtor
+            -Wnull-dereference
             -Wold-style-cast
-            -Wcast-align
-            -Wunused
             -Woverloaded-virtual
             -Wpedantic
-            -Wconversion
+            -Wshadow
             -Wsign-conversion
-            -Wnull-dereference
-            -Wdouble-promotion
-            -Wimplicit-fallthrough
-            -Werror
+            -Wunused
+            -fdiagnostics-color=always
 )
 target_link_libraries(
   TestConfig INTERFACE smooth GTest::Main -fsanitize=undefined,address
 )
 
+if (ENABLE_TEST_COVERAGE)
+  target_compile_options(TestConfig INTERFACE $<$<CONFIG:Debug>:--coverage>)
+  target_link_libraries(TestConfig INTERFACE $<$<CONFIG:Debug>:--coverage>)
+endif()
+
+if (ENABLE_TEST_SANITIZERS)
+  target_compile_options(TestConfig INTERFACE $<$<CONFIG:Debug>:-fsanitize=undefined,address>)
+  target_link_options(TestConfig INTERFACE $<$<CONFIG:Debug>:-fsanitize=undefined,address>)
+endif()
+
 # CORE TESTS
 
 add_executable(test_utils test_utils.cpp)
@@ -145,7 +162,7 @@ gtest_discover_tests(test_sparse)
 
 find_package(Boost QUIET)
 find_package(Ceres 2.1 QUIET)
-find_package(autodiff 0.6 QUIET)
+find_package(autodiff QUIET)
 find_package(geometry_msgs QUIET)
 
 if(autodiff_FOUND)
@@ -192,7 +209,7 @@ if(geometry_msgs_FOUND)
     test_ros PRIVATE TestConfig
                      geometry_msgs::geometry_msgs__rosidl_typesupport_cpp
   )
-  gtest_discover_tests(test_ros)
+gtest_discover_tests(test_ros)
 else()
   message(WARNING "geometry_msgs not found, disabling ros test")
 endif()