maintenance

.github/workflows/main.yml

@@ -12,51 +12,43 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
-        build_type: [Debug, Release]
-        row_major: [ON, OFF]
-        basic_logging: [ON, OFF]
-        exclude:
-          - build_type: Release
+        include:
+          - os: ubuntu-22.04
+            build_type: Release
             row_major: ON
-          - build_type: Release
-            basic_logging: ON
-          - build_type: Debug
-            row_major: ON
-            basic_logging: ON
+          - os: ubuntu-22.04
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: ubuntu-24.04
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: macos-13
+            build_type: RelWithDebInfo
+            row_major: OFF
+          - os: macos-14
+            build_type: RelWithDebInfo
+            row_major: OFF
       fail-fast: false
     env:
-      BUILD_TYPE: ${{ matrix.build_type }}
       ROW_MAJOR_DEFAULT: ${{ matrix.row_major }}
-      USE_BASIC_LOGGING: ${{ matrix.basic_logging }}
-
 
     steps:
       - uses: actions/checkout@v2
 
-      - name: Format
-        uses: DoozyX/[email protected]
-        with:
-          source: '.'
-          extensions: 'hpp,cpp'
-          exclude: './sympy ./doxyrest_b'
-          clangFormatVersion: 9
-        if: matrix.os == 'ubuntu-20.04'
-
       - name: ccache
         uses: hendrikmuhs/ccache-action@v1
 
-      - name: Install dependencies (Linux)
-        run: ./scripts/install_linux_deps.sh
-        if: matrix.os == 'ubuntu-20.04'
+      - name: Install dependencies (Linux incl. Ceres)
+        run: ./scripts/install_ubuntu22.04_deps.sh
+        if: matrix.os == 'ubuntu-22.04'
 
-      - name: Install fmt dependency (Linux)
-        run: ./scripts/install_linux_fmt_deps.sh
-        if: matrix.os == 'ubuntu-20.04' && matrix.basic_logging == 'OFF'
+      - name: Install dependencies (Linux NO Ceres)
+        run: ./scripts/install_ubuntu24.04_deps.sh
+        if: matrix.os == 'ubuntu-24.04'
 
       - name: Install dependencies (Mac OS)
         run: ./scripts/install_osx_deps.sh
-        if: matrix.os == 'macos-10.15'
+        if: matrix.os == 'macos-14' || matrix.os == 'macos-13'
 
       - name: Run tests
         run: ./scripts/run_cpp_tests.sh

CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.4)
-project(Sophus VERSION 1.22.10)
+cmake_minimum_required(VERSION 3.16)
+project(Sophus VERSION 1.24.06)
 
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)
@@ -15,7 +15,6 @@ if (NOT DEFINED SOPHUS_MASTER_PROJECT)
 endif ()
 
 option(SOPHUS_INSTALL "Generate the install target." ${SOPHUS_MASTER_PROJECT})
-option(SOPHUS_USE_BASIC_LOGGING "Use basic logging (in ensure and test macros)" OFF)
 
 if(SOPHUS_MASTER_PROJECT)
   # Release by default
@@ -24,7 +23,7 @@ if(SOPHUS_MASTER_PROJECT)
     set(CMAKE_BUILD_TYPE Release)
   endif()
 
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 
   # Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
   IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
@@ -35,9 +34,6 @@ if(SOPHUS_MASTER_PROJECT)
     SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
     SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
-    SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
-    SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
-    SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
   ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
     ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
   ENDIF()
@@ -46,10 +42,6 @@ if(SOPHUS_MASTER_PROJECT)
   list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")
 endif()
 
-if(SOPHUS_USE_BASIC_LOGGING)
-  set (CMAKE_DISABLE_FIND_PACKAGE_fmt ON)
-endif()
-
 # Find public dependencies if targets are not yet defined. (Targets might be for example
 # defined by a parent project including Sophus via `add_subdirectory`.)
 
@@ -89,7 +81,6 @@ set(SOPHUS_HEADER_FILES
   sophus/so3.hpp
   sophus/spline.hpp
   sophus/types.hpp
-  sophus/velocities.hpp
 )
 
 set(SOPHUS_OTHER_FILES
@@ -110,16 +101,10 @@ else()
   target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
 endif()
 
-if(SOPHUS_USE_BASIC_LOGGING OR NOT TARGET fmt::fmt)
-  # NOTE fmt_FOUND does not seem to be defined even though the package config
-  # was found.
-  target_compile_definitions(sophus INTERFACE SOPHUS_USE_BASIC_LOGGING=1)
-  message(STATUS "Turning basic logging ON")
-else()
-  target_link_libraries(sophus INTERFACE fmt::fmt)
-  set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
-  message(STATUS "Turning basic logging OFF")
-endif()
+
+target_link_libraries(sophus INTERFACE fmt::fmt)
+set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
+message(STATUS "Turning basic logging OFF")
 
 # Associate target with include directory
 target_include_directories(sophus INTERFACE

README.rst

@@ -24,21 +24,23 @@ The specific compiler and operating system versions which are supported are
 the ones which are used in the Continuous Integration (CI): See GitHubCI_ and
 AppVeyor_ for details.
 
-However, it should work (with no to minor modification) on many other
-modern configurations as long they support c++14, CMake, Eigen 3.3.X and
-(optionally) fmt. The fmt dependency can be eliminated by passing
-"-DUSE_BASIC_LOGGING=ON" to cmake when configuring Sophus.
-
 .. _GitHubCI: https://github.com/strasdat/Sophus/actions
 
-.. |AppVeyor| image:: https://ci.appveyor.com/api/projects/status/um4285lwhs8ci7pt/branch/master?svg=true
-.. _AppVeyor: https://ci.appveyor.com/project/strasdat/sophus/branch/master
-
-.. |ci_cov| image:: https://coveralls.io/repos/github/strasdat/Sophus/badge.svg?branch=master
-.. _ci_cov: https://coveralls.io/github/strasdat/Sophus?branch=master
-
 .. |GithubCICpp| image:: https://github.com/strasdat/Sophus/actions/workflows/main.yml/badge.svg?branch=master
 .. _GithubCICpp: https://github.com/strasdat/Sophus/actions/workflows/main.yml?query=branch%3Amaster
 
 .. |GithubCISympy| image:: https://github.com/strasdat/Sophus/actions/workflows/sympy.yml/badge.svg?branch=master
 .. _GithubCISympy: https://github.com/strasdat/Sophus/actions/workflows/sympy.yml?query=branch%3Amaster
+
+
+Install Ubuntu 22.04
+--------------------
+
+sudo apt install libeigen3-dev
+sudo apt install libfmt-dev
+sudo apt install libceres-dev
+
+mkdir build
+cd build
+cmake ..
+make -j4

Sophus.code-workspace

@@ -4,5 +4,67 @@
 			"path": "."
 		}
 	],
-	"settings": {}
+	"settings": {
+		"files.associations": {
+			"type_traits": "cpp",
+			"array": "cpp",
+			"optional": "cpp",
+			"atomic": "cpp",
+			"bit": "cpp",
+			"*.tcc": "cpp",
+			"cctype": "cpp",
+			"chrono": "cpp",
+			"clocale": "cpp",
+			"cmath": "cpp",
+			"compare": "cpp",
+			"complex": "cpp",
+			"concepts": "cpp",
+			"cstdarg": "cpp",
+			"cstddef": "cpp",
+			"cstdint": "cpp",
+			"cstdio": "cpp",
+			"cstdlib": "cpp",
+			"cstring": "cpp",
+			"ctime": "cpp",
+			"cwchar": "cpp",
+			"cwctype": "cpp",
+			"deque": "cpp",
+			"list": "cpp",
+			"map": "cpp",
+			"set": "cpp",
+			"string": "cpp",
+			"unordered_map": "cpp",
+			"unordered_set": "cpp",
+			"vector": "cpp",
+			"exception": "cpp",
+			"algorithm": "cpp",
+			"functional": "cpp",
+			"iterator": "cpp",
+			"memory": "cpp",
+			"memory_resource": "cpp",
+			"numeric": "cpp",
+			"random": "cpp",
+			"ratio": "cpp",
+			"string_view": "cpp",
+			"system_error": "cpp",
+			"tuple": "cpp",
+			"utility": "cpp",
+			"initializer_list": "cpp",
+			"iosfwd": "cpp",
+			"iostream": "cpp",
+			"istream": "cpp",
+			"limits": "cpp",
+			"new": "cpp",
+			"numbers": "cpp",
+			"ostream": "cpp",
+			"semaphore": "cpp",
+			"sstream": "cpp",
+			"stdexcept": "cpp",
+			"stop_token": "cpp",
+			"streambuf": "cpp",
+			"thread": "cpp",
+			"cinttypes": "cpp",
+			"typeinfo": "cpp"
+		}
+	}
 }