Fix new suitesparse version and Apple Clang compiling (#473)

https://swift-nav.atlassian.net/browse/OC-729

Handle new Suitesparse version and dix Apple Clang compiling

Submodule links need to be corrected for Cmake and eigen after these PRs
are merged
swift-nav/cmake#171
swift-nav/eigen#4

include/albatross/src/cereal/suitesparse.hpp

@@ -149,7 +149,11 @@ inline void save(Archive &ar, cholmod_common const &cc,
   // workspace, so we don't even do anything special when we
   // deserialize.
   ar(CEREAL_NVP(cc.itype));
+
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
   ar(CEREAL_NVP(cc.dtype));
+#endif
+
   ar(CEREAL_NVP(cc.no_workspace_reallocate));
   ar(CEREAL_NVP(cc.status));
   ar(CEREAL_NVP(cc.fl));
@@ -177,8 +181,18 @@ inline void save(Archive &ar, cholmod_common const &cc,
   ar(CEREAL_NVP(cc.SPQR_flopcount_bound));
   ar(CEREAL_NVP(cc.SPQR_tol_used));
   ar(CEREAL_NVP(cc.SPQR_norm_E_fro));
-  static_assert(sizeof(cc.SPQR_istat) == 10 * sizeof(SuiteSparse_long),
-                "cholmod_common.SPQR_istat expected to have 10 elements.");
+
+  // The number of elements was size 10 in CHOLMOD v4.2; reduced to 8 in CHOLMOD
+  // v5:
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
+  constexpr size_t cNumSPQRElements = 10;
+#else
+  constexpr size_t cNumSPQRElements = 8;
+#endif
+  static_assert(
+      sizeof(cc.SPQR_istat) == cNumSPQRElements * sizeof(SuiteSparse_long),
+      "cholmod_common.SPQR_istat expected to have certain number of elements.");
+
   ar(::cereal::make_nvp("cc.SPQR_istat0", cc.SPQR_istat[0]));
   ar(::cereal::make_nvp("cc.SPQR_istat1", cc.SPQR_istat[1]));
   ar(::cereal::make_nvp("cc.SPQR_istat2", cc.SPQR_istat[2]));
@@ -187,8 +201,11 @@ inline void save(Archive &ar, cholmod_common const &cc,
   ar(::cereal::make_nvp("cc.SPQR_istat5", cc.SPQR_istat[5]));
   ar(::cereal::make_nvp("cc.SPQR_istat6", cc.SPQR_istat[6]));
   ar(::cereal::make_nvp("cc.SPQR_istat7", cc.SPQR_istat[7]));
+
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
   ar(::cereal::make_nvp("cc.SPQR_istat8", cc.SPQR_istat[8]));
   ar(::cereal::make_nvp("cc.SPQR_istat9", cc.SPQR_istat[9]));
+#endif
 
   // Completely ignore all the GPU stuff.
 #ifdef GPU_BLAS
@@ -261,7 +278,11 @@ inline void load(Archive &ar, cholmod_common &cc,
   ar(CEREAL_NVP(cc.mark));
   ALBATROSS_ASSERT(cholmod_l_free_work(&cc) == 1);
   ar(CEREAL_NVP(cc.itype));
+
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
   ar(CEREAL_NVP(cc.dtype));
+#endif
+
   ar(CEREAL_NVP(cc.no_workspace_reallocate));
   ar(CEREAL_NVP(cc.status));
   ar(CEREAL_NVP(cc.fl));
@@ -289,8 +310,18 @@ inline void load(Archive &ar, cholmod_common &cc,
   ar(CEREAL_NVP(cc.SPQR_flopcount_bound));
   ar(CEREAL_NVP(cc.SPQR_tol_used));
   ar(CEREAL_NVP(cc.SPQR_norm_E_fro));
-  static_assert(sizeof(cc.SPQR_istat) == 10 * sizeof(SuiteSparse_long),
-                "cholmod_common.SPQR_istat expected to have 10 elements.");
+
+// The number of elements was size 10 in CHOLMOD v4.2; reduced to 8 in CHOLMOD
+// v5:
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
+  constexpr size_t cNumSPQRElements = 10;
+#else
+  constexpr size_t cNumSPQRElements = 8;
+#endif
+
+  static_assert(
+      sizeof(cc.SPQR_istat) == cNumSPQRElements * sizeof(SuiteSparse_long),
+      "cholmod_common.SPQR_istat expected to have certain number of elements.");
   ar(::cereal::make_nvp("cc.SPQR_istat0", cc.SPQR_istat[0]));
   ar(::cereal::make_nvp("cc.SPQR_istat1", cc.SPQR_istat[1]));
   ar(::cereal::make_nvp("cc.SPQR_istat2", cc.SPQR_istat[2]));
@@ -299,8 +330,11 @@ inline void load(Archive &ar, cholmod_common &cc,
   ar(::cereal::make_nvp("cc.SPQR_istat5", cc.SPQR_istat[5]));
   ar(::cereal::make_nvp("cc.SPQR_istat6", cc.SPQR_istat[6]));
   ar(::cereal::make_nvp("cc.SPQR_istat7", cc.SPQR_istat[7]));
+
+#if CHOLMOD_VERSION < CHOLMOD_VER_CODE(5, 0)
   ar(::cereal::make_nvp("cc.SPQR_istat8", cc.SPQR_istat[8]));
   ar(::cereal::make_nvp("cc.SPQR_istat9", cc.SPQR_istat[9]));
+#endif
 
   // Completely ignore all the GPU stuff.
 #ifdef GPU_BLAS