Issues around TBB

[ProfFan]

There are a few issues around TBB, namely

in jumpingrobot.i, this patch is needed:

From

void AddSourceMassCollocationFactor(
    gtsam::NonlinearFactorGraph @graph,
    const std::vector<gtsam::Key>& mdot_prev_keys,
    const std::vector<gtsam::Key>& mdot_curr_keys,
    gtsam::Key source_mass_key_prev, gtsam::Key source_mass_key_curr,
    gtsam::Key dt_key, bool isEuler,
    const gtsam::noiseModel::Base *cost_model);

void AddSourceMassCollocationFactor(
    gtsam::NonlinearFactorGraph @graph,
    const gtsam::KeyVector& mdot_prev_keys,
    const gtsam::KeyVector& mdot_curr_keys,
    gtsam::Key source_mass_key_prev, gtsam::Key source_mass_key_curr,
    gtsam::Key dt_key, bool isEuler,
    const gtsam::noiseModel::Base *cost_model);

Cannot link to TBB on macOS

There needs to be a target_link_libraries for TBB on macOS. I'll post the patch later

[varunagrawal]

Make sure the TBB linking is tunable via a switch. I don't use TBB in general.

[varunagrawal]

This has been resolved.