Merge pull request #119 from borglab/release/4.0.2

Release version 4.0.2

.github/ISSUE_TEMPLATE/bug-report.md

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+---
+name: "Bug Report"
+about: Submit a bug report to help us improve GTSAM
+---
+
+<!--Please only submit issues/bug reports that come with enough information to reproduce them, ideally a unit test that fails, and possible ideas on what might be wrong. -->
+
+<!-- Even better yet, fix the bug and/or documentation, add a unit test, and create a pull request! -->
+
+<!-- This is a channel to report bugs/issues, not a support channel to help install/use/debug your own code. We'd love to help, but just don't have the bandwidth. Please post questions in the GTSAM Google group (https://groups.google.com/forum/#!forum/gtsam-users) -->
+
+## Description
+
+<!-- A clear description of the bug -->
+
+## Steps to reproduce
+
+1. 
+2.
+
+<!-- If you have a code sample, unit test, error messages, stack traces, etc., please provide it here as well -->
+
+## Expected behavior
+
+<!-- A clear and concise description of what you expected to happen. -->
+
+## Environment
+
+<!-- Please provide information about your code environment, things such as OS, language of use (C++, Matlab or Python), version of dependent libraries if using a custom build etc., anything to provide us more information. -->
+
+<!-- The more the information, the faster we can help resolve the issue -->
+
+## Additional information
+
+<!-- Add any other infor or context about the problem here. -->

.github/ISSUE_TEMPLATE/feature-request.md

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+---
+name: "Feature Request"
+about: Submit a proposal/request for a new GTSAM feature
+---
+
+## Feature
+
+<!-- A clear and concise description of the feature proposal -->
+
+## Motivation
+
+<!-- Please outline the motivation for the proposal. Is your feature request related to a problem? e.g., I'm always frustrated when [...]. If this is related to another GitHub issue, please link here too. -->
+
+## Pitch
+
+<!-- A clear and concise description of what you want to happen. -->
+
+## Alternatives
+
+<!-- A clear and concise description of any alternative solutions or features you've considered, if any. -->
+
+## Additional context
+
+<!-- Add any other context or screenshots about the feature request here. -->

.github/ISSUE_TEMPLATE/questions-help-support.md

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+---
+name: "Questions/Help/Support"
+---
+
+Please post questions and support requests in the [GTSAM Google group](https://groups.google.com/forum/#!forum/gtsam-users) and not on Github.

.travis.sh

@@ -0,0 +1,85 @@
+#!/bin/bash
+
+# common tasks before either build or test
+function prepare ()
+{
+  set -e   # Make sure any error makes the script to return an error code
+  set -x   # echo
+
+  SOURCE_DIR=`pwd`
+  BUILD_DIR=build
+
+  #env
+  git clean -fd || true
+  rm -fr $BUILD_DIR || true
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+
+  if [ -z "$CMAKE_BUILD_TYPE" ]; then
+    CMAKE_BUILD_TYPE=Debug
+  fi
+
+  if [ -z "$GTSAM_ALLOW_DEPRECATED_SINCE_V4" ]; then
+    GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
+  fi
+
+  if [ ! -z "$GCC_VERSION" ]; then
+    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-$GCC_VERSION 60 \
+                         --slave /usr/bin/g++ g++ /usr/bin/g++-$GCC_VERSION
+    sudo update-alternatives --set gcc /usr/bin/gcc-$GCC_VERSION
+  fi
+}
+
+# common tasks after either build or test
+function finish ()
+{
+  # Print ccache stats
+  ccache -s
+
+  cd $SOURCE_DIR
+}
+
+# compile the code with the intent of populating the cache
+function build ()
+{
+  prepare
+
+  cmake $SOURCE_DIR \
+      -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+      -DGTSAM_BUILD_TESTS=OFF \
+      -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=$GTSAM_ALLOW_DEPRECATED_SINCE_V4
+
+  # Actual build:
+  VERBOSE=1 make -j2
+
+  finish
+}
+
+# run the tests
+function test ()
+{
+  prepare
+
+  cmake $SOURCE_DIR \
+      -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+      -DGTSAM_BUILD_TESTS=ON \
+      -DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
+
+  # Actual build:
+  make -j2 check
+
+  finish
+}
+
+# select between build or test
+case $1 in
+  -b)
+    build
+    ;;
+  -t)                      
+    test
+    ;;
+esac

.travis.yml

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+language: cpp
+cache: ccache
+sudo: required
+dist: xenial
+
+addons:
+  apt:
+    sources:
+    - ubuntu-toolchain-r-test
+    packages:
+    - g++-8
+    - clang-3.8
+    - build-essential
+    - pkg-config
+    - cmake
+    - libpython-dev python-numpy
+    - libboost-all-dev
+
+# before_install:
+#  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update          ; fi
+
+install:
+  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
+  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
+
+# We first do the compile stage specified below, then the matrix expansion specified after.
+stages:
+  - compile
+  - test
+
+# Compile stage without building examples/tests to populate the caches.
+jobs:
+  include:
+# on Mac, GCC
+  - stage: compile
+    os: osx
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    script: bash .travis.sh -b
+  - stage: compile
+    os: osx
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Release
+    script: bash .travis.sh -b
+# on Mac, CLANG
+  - stage: compile
+    os: osx
+    compiler: clang
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    script: bash .travis.sh -b
+  - stage: compile
+    os: osx
+    compiler: clang
+    env: CMAKE_BUILD_TYPE=Release
+    script: bash .travis.sh -b
+# on Linux, GCC
+  - stage: compile
+    os: linux
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    script: bash .travis.sh -b
+  - stage: compile
+    os: linux
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Release
+    script: bash .travis.sh -b
+# on Linux, CLANG
+  - stage: compile
+    os: linux
+    compiler: clang
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    script: bash .travis.sh -b
+  - stage: compile
+    os: linux
+    compiler: clang
+    env: CMAKE_BUILD_TYPE=Release
+    script: bash .travis.sh -b
+# on Linux, with deprecated ON to make sure that path still compiles
+  - stage: compile
+    os: linux
+    compiler: clang
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
+    script: bash .travis.sh -b
+
+# Matrix configuration:
+os:
+  - osx
+  - linux
+compiler:
+  - gcc
+  - clang
+env:
+  global:
+    - MAKEFLAGS="-j2"
+    - CCACHE_SLOPPINESS=pch_defines,time_macros
+    - GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
+    - GTSAM_BUILD_UNSTABLE=ON
+  matrix:
+    - CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    - CMAKE_BUILD_TYPE=Release
+script:
+  - bash .travis.sh -t
+
+matrix:
+  exclude:
+    # Exclude g++ debug on Linux as it consistently times out
+    - os: linux
+      compiler: gcc
+      env : CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
+    # Exclude clang on Linux/clang in release until issue #57 is solved
+    - os: linux
+      compiler: clang
+      env : CMAKE_BUILD_TYPE=Release