Merge branch 'C++11' into ros2-dev

CMakeLists.txt

@@ -20,21 +20,17 @@ if (NOT USE_AMENT)
 set(PROJECT_VERSION 1.1.0)
 
 # Find dependencies
-find_package(Boost REQUIRED system)
 find_package(OpenMP REQUIRED)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-find_package(Eigen3 REQUIRED)
-find_package(lgmath REQUIRED)
+find_package(Eigen3 3.3.7 REQUIRED)
+find_package(lgmath 1.1.0 REQUIRED)
 
 # Build library
 file(GLOB_RECURSE SOURCE_FILES "src/*.cpp")
 add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME}
-  PUBLIC
-    ${Boost_LIBRARIES}
-    ${OpenMP_LIBRARIES}
-    lgmath
+  PUBLIC lgmath
 )
 target_include_directories(${PROJECT_NAME}
   PUBLIC
@@ -49,48 +45,53 @@ install(
   DESTINATION include
 )
 
-install(TARGETS ${PROJECT_NAME}
+install(
+  TARGETS ${PROJECT_NAME}
   DESTINATION lib
-  EXPORT export_${PROJECT_NAME}
-)
-
-install(EXPORT export_${PROJECT_NAME}
-  FILE export_${PROJECT_NAME}.cmake
-  DESTINATION lib/cmake/${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
 )
 
 # Export
+set(PROJECT_LIBRARY ${PROJECT_NAME})
+
 include(CMakePackageConfigHelpers)
-# generate the config file that is includes the exports
-configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-  INSTALL_DESTINATION "lib/cmake/example"
+configure_package_config_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
   NO_SET_AND_CHECK_MACRO
   NO_CHECK_REQUIRED_COMPONENTS_MACRO
 )
-# generate the version file for the config file
 write_basic_package_version_file(
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-  VERSION "${Tutorial_VERSION_MAJOR}.${Tutorial_VERSION_MINOR}"
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+  VERSION ${PROJECT_VERSION}
   COMPATIBILITY AnyNewerVersion
 )
-# install the configuration file
-install(FILES
-  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
-  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+# export to build directory so no need to install in order to use find_package
+export(
+  EXPORT ${PROJECT_NAME}Targets
+  FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake
+)
+
+# install export cmake files
+install(
+  EXPORT ${PROJECT_NAME}Targets
+  FILE ${PROJECT_NAME}Targets.cmake
   DESTINATION lib/cmake/${PROJECT_NAME}
 )
-# export to build directory as well so no need to install in order to use find_package
-export(EXPORT export_${PROJECT_NAME}
-  FILE "${CMAKE_CURRENT_BINARY_DIR}/export_${PROJECT_NAME}.cmake"
+
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+  DESTINATION lib/cmake/${PROJECT_NAME}
 )
 
 ## ROS2 ament_cmake flow
 else()
 
 # Find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(Boost REQUIRED system)
 find_package(OpenMP REQUIRED)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -101,15 +102,15 @@ find_package(lgmath REQUIRED)
 # Libraries
 file(GLOB_RECURSE SOURCE src/*.cpp)
 add_library(${PROJECT_NAME} ${SOURCE})
-ament_target_dependencies(${PROJECT_NAME} Boost Eigen3 OpenMP lgmath)
+ament_target_dependencies(${PROJECT_NAME} Eigen3 OpenMP lgmath)
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(eigen3_cmake_module)
-ament_export_dependencies(Boost OpenMP Eigen3 lgmath)
+ament_export_dependencies(OpenMP Eigen3 lgmath)
 
 install(
   DIRECTORY include/
@@ -142,6 +143,7 @@ add_executable(TrustRegionExample samples/TrustRegionExample.cpp)
 add_executable(MotionDistortedP2PandCATrajPrior samples/MotionDistortedP2PandCATrajPrior.cpp)
 add_executable(SimpleP2PandCATrajPrior samples/SimpleP2PandCATrajPrior.cpp)
 add_executable(SimplePointCloudAlignment samples/SimplePointCloudAlignment.cpp)
+
 if (USE_AMENT)
 
 install(

Config.cmake.in

@@ -1,3 +1,10 @@
 @PACKAGE_INIT@
 
-include ( "${CMAKE_CURRENT_LIST_DIR}/export_steam.cmake" )
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3 3.3.7)
+find_dependency(lgmath 1.1.0)
+
+set (@PROJECT_NAME@_LIBRARY      "@PROJECT_LIBRARY@")
+set (@PROJECT_NAME@_LIBRARIES    "@PROJECT_LIBRARY@")
+
+include ( "${CMAKE_CURRENT_LIST_DIR}/@[email protected]" )

Dockerfile

@@ -5,7 +5,5 @@ CMD ["/bin/bash"]
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt update
-
 RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
-RUN apt install -q -y libboost-all-dev libomp-dev
-RUN apt install -q -y libeigen3-dev
+RUN apt install -q -y libeigen3-dev libboost-all-dev libomp-dev

Dockerfile.ROS2

@@ -1,10 +1,10 @@
-FROM ros:foxy
+FROM ros:galactic
 
 CMD ["/bin/bash"]
 
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt update
-RUN apt install -q -y curl gnupg2 lsb-release build-essential
-RUN apt install -q -y libboost-all-dev libomp-dev
-RUN apt install -q -y python3-colcon-core python3-colcon-common-extensions
+RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
+RUN apt install -q -y python3-colcon-core python3-colcon-common-extensions
+RUN apt install -q -y libeigen3-dev libboost-all-dev libomp-dev

Jenkinsfile

@@ -7,7 +7,7 @@ pipeline {
                 stage('build deps (lgmath)') {
                     steps {
                         dir('lgmath') {
-                            git branch: 'feature/eigen3', credentialsId: 'ea1fced4-b1ad-4389-b294-74b0d3a7f607', url: 'https://github.com/utiasASRL/lgmath.git'
+                            git branch: 'master', url: 'https://github.com/utiasASRL/lgmath.git'
                             sh '''
                                 mkdir build && cd build
                                 cmake ..
@@ -59,9 +59,9 @@ pipeline {
                 stage('build deps (lgmath)') {
                     steps {
                         dir('lgmath') {
-                            git branch: 'feature/eigen3', credentialsId: 'ea1fced4-b1ad-4389-b294-74b0d3a7f607', url: 'https://github.com/utiasASRL/lgmath.git'
+                            git branch: 'master', url: 'https://github.com/utiasASRL/lgmath.git'
                             sh '''
-                                source /opt/ros/foxy/setup.bash
+                                source /opt/ros/galactic/setup.bash
                                 colcon build --symlink-install --cmake-args "-DUSE_AMENT=ON"
                                 touch COLGON_IGNORE
                             '''

README.md

@@ -8,69 +8,100 @@ STEAM (Simultaneous Trajectory Estimation and Mapping) Engine is an optimization
 
 ## Installation
 
-### Hardware and Software Requirements
+### Dependencies
 
-- Compiler with C++17 support
+- Compiler with C++17 support and OpenMP
+- CMake (>=3.16)
+- Boost (>=1.71.0)
 - Eigen (>=3.3.7)
-- CMake or ROS2(colcon+ament_cmake)
-- Boost library
-- OpenMP
-- [lgmath](https://github.com/utiasASRL/lgmath.git)
+- [lgmath (>=1.1.0)](https://github.com/utiasASRL/lgmath.git)
+- (Optional) ROS2 Foxy or later (colcon+ament_cmake)
 
-### Install c++ compiler, cmake, Boost and OpenMP
+### Install c++ compiler, cmake and OpenMP
 
 ```bash
-sudo apt -q -y install build-essential cmake libboost-all-dev libomp-dev
+sudo apt -q -y install build-essential cmake libomp-dev
 ```
 
-### Install Eigen (>=3.3.7)
+### Install Boost
+
+```bash
+# using APT
+sudo apt -q -y install libboost-all-dev
+
+# OR from source
+WORKSPACE=~/workspace  # choose your own workspace directory
+mkdir -p ${WORKSPACE}/boost && cd $_
+wget --no-verbose https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/boost_1_71_0.tar.gz
+tar xzf boost_1_71_0.tar.gz && cd boost_1_71_0
+./bootstrap.sh --with-python=$(which python3)
+./b2 cxxflags="-std=gnu++17" install
+ldconfig
+```
 
-Eigen can be installed using APT
+### Install Eigen (>=3.3.7)
 
 ```bash
+# using APT
 sudo apt -q -y install libeigen3-dev
+
+# OR from source
+WORKSPACE=~/workspace  # choose your own workspace directory
+mkdir -p ${WORKSPACE}/eigen && cd $_
+git clone https://gitlab.com/libeigen/eigen.git . && git checkout 3.3.7
+mkdir build && cd $_
+cmake .. && make install # default install location is /usr/local/
 ```
 
-If installed from source to a custom location then make sure `cmake` can find it.
+- Note: if installed from source to a custom location then make sure `cmake` can find it.
 
-### Build and install using `cmake`
+### Install lgmath
 
-Install [lgmath](https://github.com/utiasASRL/lgmath.git) using `cmake` before installing this library. If installed to a custom location then make sure `cmake` can find it.
+Follow the instructions [here](https://github.com/utiasASRL/lgmath.git).
 
-Clone this repo
+### Build and install steam using `cmake`
 
 ```bash
+WORKSPACE=~/workspace  # choose your own workspace directory
+# clone
+mkdir -p ${WORKSPACE}/steam && cd $_
 git clone https://github.com/utiasASRL/steam.git .
+# build and install
+mkdir -p build && cd $_
+cmake ..
+cmake --build .
+cmake --install . # (optional) install, default location is /usr/local/
 ```
 
 Preprocessor macros
 
 - `STEAM_DEFAULT_NUM_OPENMP_THREADS=<num. threads>`: Default to 4. Define number of threads to be used by OpenMP in STEAM.
 - `STEAM_USE_OBJECT_POOL`: Default to undefined. If defined then STEAM will use an object pool to improve performance but is no longer thread safe.
 
-Build and install
-
-```bash
-mkdir -p build && cd $_
-cmake ..
-cmake --build .
-cmake --install . # (optional) install, default location is /usr/local/
-```
-
 Note: `steamConfig.cmake` will be generated in both `build/` and `<install prefix>/lib/cmake/steam/` to be included in other projects.
 
-### Build and install using `ROS2(colcon+ament_cmake)`
+### Build examples
+
+[samples/CMakeLists.txt](./samples/CMakeLists.txt) shows an example of how to add steam to your projects.
 
-Clone both lgmath and this repository in the same directory
+To build and run these samples:
 
 ```bash
-git clone https://github.com/utiasASRL/lgmath.git
-git clone https://github.com/utiasASRL/steam.git
+cd ${WORKSPACE}/steam  ## $WORKSPACE defined above
+mkdir -p build_samples && cd $_
+cmake ../samples
+cmake --build .  # Executables will be generated in build_samples
 ```
 
-Source your ROS2 workspace and then
+### Build and install steam using `ROS2(colcon+ament_cmake)`
 
 ```bash
+WORKSPACE=~/workspace  # choose your own workspace directory
+
+mkdir -p ${WORKSPACE}/steam && cd $_
+git clone https://github.com/utiasASRL/steam.git .
+
+source <your ROS2 worspace that includes steam>
 colcon build --symlink-install --cmake-args "-DUSE_AMENT=ON"
 ```
 

include/steam/common/Time.hpp

@@ -10,7 +10,6 @@
 #define STEAM_TIME_HPP
 
 #include <iostream>
-#include <boost/cstdint.hpp>
 
 namespace steam {
 
@@ -20,11 +19,11 @@ namespace steam {
 class Time {
  public:
   Time() : nsecs_(0) {}
-  Time(boost::int64_t nsecs) : nsecs_(nsecs) {}
+  Time(int64_t nsecs) : nsecs_(nsecs) {}
   Time(double secs) : nsecs_(secs*1e9) {}
-  Time(boost::int32_t secs, boost::int32_t nsec) {
-    boost::int64_t t1 = (boost::int64_t) secs;
-    boost::int64_t t2 = (boost::int64_t) nsec;
+  Time(int32_t secs, int32_t nsec) {
+    int64_t t1 = (int64_t) secs;
+    int64_t t2 = (int64_t) nsec;
     this->nsecs_ = t1*1000000000 + t2;
   }
 
@@ -44,7 +43,7 @@ class Time {
   ///        Usually it makes sense to use this method after *this* has been reduced to a
   ///        duration between two times.
   //////////////////////////////////////////////////////////////////////////////////////////////
-  const boost::int64_t& nanosecs() const {
+  const int64_t& nanosecs() const {
     return nsecs_;
   }
 
@@ -108,7 +107,7 @@ class Time {
   ///        seconds since epoch and 1e9 nsecs. Furthermore, a single base type, rather than
   ///        two combined unsigned int32s to allow nsecs to be used as a key in a std::map.
   //////////////////////////////////////////////////////////////////////////////////////////////
-  boost::int64_t nsecs_;
+  int64_t nsecs_;
 
 };
 

include/steam/common/Timer.hpp

@@ -11,7 +11,6 @@
 // system timer
 #include <sys/time.h>
 #include <iostream>
-#include <boost/cstdint.hpp>
 
 namespace steam {
 

include/steam/evaluator/ErrorEvaluator.hpp

@@ -21,8 +21,8 @@ template<int MEAS_DIM,       // Dimension of the measurement error. Note the mea
          int MAX_STATE_SIZE> // The maximum dimension of a single state variable perturbation
 struct ErrorEvaluator{
   typedef EvaluatorBase<Eigen::Matrix<double, MEAS_DIM, 1>,MEAS_DIM,MEAS_DIM,MAX_STATE_SIZE> type;
-  typedef boost::shared_ptr<type> Ptr;
-  typedef boost::shared_ptr<const type> ConstPtr;
+  typedef std::shared_ptr<type> Ptr;
+  typedef std::shared_ptr<const type> ConstPtr;
 };
 
 //////////////////////////////////////////////////////////////////////////////////////////////

include/steam/evaluator/EvaluatorBase.hpp

@@ -28,8 +28,8 @@ class EvaluatorBase
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > Ptr;
-  typedef boost::shared_ptr<const EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > ConstPtr;
+  typedef std::shared_ptr<EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > Ptr;
+  typedef std::shared_ptr<const EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Default constructor