{

echo install_tbb

if [ "$(uname)" == "Linux" ]; then

sudo apt-get -y install libtbb-dev

elif [ "$(uname)" == "Darwin" ]; then

brew install tbb

fi

{

if [[ $(uname) == "Darwin" ]]; then

brew install wget

else

# Install a system package required by our library

sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools

fi

export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin

if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then

install_tbb

fi

{

BUILD_PYBIND="ON"

USE_BOOST_FEATURES="ON"

ENABLE_BOOST_SERIALIZATION="ON"

if [ "${NO_BOOST_BUILD}" == "ON" ]; then

USE_BOOST_FEATURES="OFF"

ENABLE_BOOST_SERIALIZATION="OFF"

fi

# Add Boost hints on Windows

BOOST_CMAKE_ARGS=""

if [ "${NO_BOOST_BUILD}" != "ON" ] && [[ "$OSTYPE" == "msys" || "$OSTYPE" == "win32" || "$OSTYPE" == "cygwin" ]]; then

if [ -n "${BOOST_ROOT}" ]; then

BOOST_ROOT_UNIX=$(echo "$BOOST_ROOT" | sed 's/\\/\//g')

BOOST_CMAKE_ARGS="-DBOOST_ROOT=${BOOST_ROOT_UNIX}"

if [ -n "${BOOST_INCLUDEDIR}" ]; then

BOOST_INCLUDEDIR_UNIX=$(echo "$BOOST_INCLUDEDIR" | sed 's/\\/\//g')

BOOST_CMAKE_ARGS="${BOOST_CMAKE_ARGS} -DBOOST_INCLUDEDIR=${BOOST_INCLUDEDIR_UNIX}"

fi

if [ -n "${BOOST_LIBRARYDIR}" ]; then

BOOST_LIBRARYDIR_UNIX=$(echo "$BOOST_LIBRARYDIR" | sed 's/\\/\//g')

BOOST_CMAKE_ARGS="${BOOST_CMAKE_ARGS} -DBOOST_LIBRARYDIR=${BOOST_LIBRARYDIR_UNIX}"

fi

fi

fi

SCCACHE_CMAKE_ARGS=""

if [ "${SCCACHE}" == "ON" ]; then

SCCACHE_CMAKE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache"

fi

cmake $GITHUB_WORKSPACE \

-B build -G Ninja \

-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \

-DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \

-DGTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR=ON \

-DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \

-DGTSAM_USE_QUATERNIONS=OFF \

-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \

-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \

-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \

-DGTSAM_BUILD_WITH_PRECOMPILED_HEADERS=OFF \

-DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \

-DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \

-DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \

-DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \

-DGTSAM_USE_BOOST_FEATURES=${USE_BOOST_FEATURES} \

-DGTSAM_ENABLE_BOOST_SERIALIZATION=${ENABLE_BOOST_SERIALIZATION} \

-DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \

-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install \

$BOOST_CMAKE_ARGS \

$SCCACHE_CMAKE_ARGS

# Unset environment variables so sccache can reuse caches.

unset PYTHON

unset PYTHON_VERSION

if [ "${NO_BOOST_BUILD}" == "ON" ]; then

# Build only wrapper targets for the no-Boost verification lane.

cmake --build build -j"${BUILD_JOBS}" --target gtsam_py gtsam_unstable_py

else

# Limit parallelism so that Actions does not run out of resources.

cmake --build build -j"${BUILD_JOBS}"

cmake --build build --target python-install

fi

{

if [ "${NO_BOOST_BUILD}" == "ON" ]; then

if [[ "$OSTYPE" == "msys" || "$OSTYPE" == "win32" || "$OSTYPE" == "cygwin" ]]; then

PYTHON_BUILD_DIRECTORY=$(cygpath -w "$GITHUB_WORKSPACE/build/python")

export PYTHONPATH="${PYTHON_BUILD_DIRECTORY}${PYTHONPATH:+;$PYTHONPATH}"

else

export PYTHONPATH="$GITHUB_WORKSPACE/build/python${PYTHONPATH:+:$PYTHONPATH}"

fi

fi

cd $GITHUB_WORKSPACE/python/gtsam/tests

$PYTHON -m unittest discover -v

cd $GITHUB_WORKSPACE

cd $GITHUB_WORKSPACE/python/gtsam_unstable/tests

$PYTHON -m unittest discover -v

cd $GITHUB_WORKSPACE

# cmake --build build --target python-test

# cmake --build build --target python-test-unstable