126 lines
3.5 KiB
YAML
126 lines
3.5 KiB
YAML
name: Special Cases CI
|
|
|
|
on: [pull_request]
|
|
|
|
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: ${{ matrix.build_type }}
|
|
GTSAM_BUILD_UNSTABLE: ON
|
|
BOOST_VERSION: 1.67.0
|
|
|
|
strategy:
|
|
fail-fast: false
|
|
|
|
matrix:
|
|
# Github Actions requires a single row to be added to the build matrix.
|
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
|
name:
|
|
[
|
|
ubuntu-clang-deprecated,
|
|
ubuntu-clang-quaternions,
|
|
ubuntu-clang-tbb,
|
|
ubuntu-clang-cayleymap,
|
|
ubuntu-clang-system-libs,
|
|
]
|
|
|
|
build_type: [Debug, Release]
|
|
|
|
include:
|
|
- name: ubuntu-clang-deprecated
|
|
os: ubuntu-20.04
|
|
compiler: clang
|
|
version: "14"
|
|
flag: deprecated
|
|
|
|
- name: ubuntu-clang-quaternions
|
|
os: ubuntu-22.04
|
|
compiler: clang
|
|
version: "14"
|
|
flag: quaternions
|
|
|
|
- name: ubuntu-clang-tbb
|
|
os: ubuntu-22.04
|
|
compiler: clang
|
|
version: "14"
|
|
flag: tbb
|
|
|
|
- name: ubuntu-clang-cayleymap
|
|
os: ubuntu-22.04
|
|
compiler: clang
|
|
version: "14"
|
|
flag: cayley
|
|
|
|
- name: ubuntu-clang-system-libs
|
|
os: ubuntu-22.04
|
|
compiler: clang
|
|
version: "14"
|
|
flag: system
|
|
|
|
steps:
|
|
- name: Checkout
|
|
uses: actions/checkout@v2
|
|
|
|
- name: Install (Linux)
|
|
if: runner.os == 'Linux'
|
|
run: |
|
|
sudo apt-get -y update
|
|
sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
|
|
|
|
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
|
|
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
|
|
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
|
|
|
|
- name: Install Boost
|
|
if: runner.os == 'Linux'
|
|
run: |
|
|
bash .github/scripts/boost.sh
|
|
|
|
- name: Install (macOS)
|
|
if: runner.os == 'macOS'
|
|
run: |
|
|
brew install cmake ninja boost
|
|
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
|
|
echo "CC=clang" >> $GITHUB_ENV
|
|
echo "CXX=clang++" >> $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: Use system versions of 3rd party libraries
|
|
if: matrix.flag == 'system'
|
|
run: |
|
|
echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV
|
|
echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV
|
|
|
|
- name: Build & Test
|
|
run: |
|
|
bash .github/scripts/unix.sh -t
|