Gtsam does not include <cassert> where assertions are made

[mcm001]

Description

While compiling gtsam for the RoboRIO (an embedded arm32 device), I saw a bunch of compiler errors similar to this (full compile command included for completeness):

[11/302] Building CXX object _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o
FAILED: _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o 
ccache /home/matt/github/thirdparty-gtsam/bin/arm-frc2024-linux-gnueabi-g++ --sysroot=/home/matt/github/thirdparty-gtsam/arm-nilrt-linux-gnueabi/sysroot -DNDEBUG -Dgtsam_EXPORTS -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-build -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/CppUnitLite -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/metis/include -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/metis/libmetis -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/metis/GKlib -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/cephes -I/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/Eigen -isystem /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/SuiteSparse_config -isystem /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/Spectra -isystem /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/3rdparty/CCOLAMD/Include -Wno-psabi -O2 -g -DNDEBUG -fPIC -fdiagnostics-color=always -Wall -fPIC -Wreturn-local-addr -Werror=return-local-addr -Wreturn-type -Werror=return-type -Wformat -Werror=format-security -Wsuggest-override -g -O3 -Wno-unused-local-typedefs -MD -MT _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o -MF _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o.d -o _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o -c /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/EssentialMatrix.cpp
In file included from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/base/Matrix.h:28,
                 from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/base/Manifold.h:22,
                 from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/BearingRange.h:21,
                 from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/Pose3.h:22,
                 from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/EssentialMatrix.h:10,
                 from /home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/EssentialMatrix.cpp:8:
/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/base/Vector.h: In instantiation of 'double gtsam::dot(const V1&, const V2&) [with V1 = Eigen::Matrix<double, 3, 1>; V2 = Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<double, 3, 1>, 0>]':
/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/geometry/EssentialMatrix.cpp:113:13:   required from here
/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/base/Vector.h:196:10: error: 'assert' was not declared in this scope
  196 |   assert (b.size()==a.size());
      |   ~~~~~~~^~~~~~~~~~~~~~~~~~~~
/home/matt/github/thirdparty-gtsam/build/_deps/gtsam-src/gtsam/base/Vector.h:32:1: note: 'assert' is defined in header '<cassert>'; did you forget to '#include <cassert>'?
   31 | #include <list>
  +++ |+#include <cassert>
   32 | 
[21/302] Building CXX object _deps/gtsam-build/gtsam/CMakeFiles/gtsam.dir/geometry/triangulation.cpp.o
ninja: build stopped: subcommand failed.

Steps to reproduce

1. Clone https://github.com/mcm001/thirdparty-gtsam and follow build steps in README
2. Observe compiler errors

Expected behavior

We should probably include what we use. If that's desired, I am happy to go through and spam includes through the gtsam codebase.

Environment

I'm building for RoboRIO, so my toolchain is a bit bespoke. I'm using the roborio toolchain from opensdk, which I get via curl -SL https://github.com/wpilibsuite/opensdk/releases/download/v2024-1/cortexa9_vfpv3-roborio-academic-2024-x86_64-linux-gnu-Toolchain-12.1.0.tgz | tar xzf - --strip-components=2. The host I am cross-compiling from is Ubuntu 22.04 under WSL.