Build and run all tests found by the glob. (#258)
Wolfgang Hess
GitHub
parent
ff06e37579
commit
6d2feaa8c7
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@ -86,6 +86,13 @@ list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS})
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add_library(${PROJECT_NAME} ${ALL_SRCS})
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add_subdirectory("cartographer")
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foreach(ABS_FIL ${ALL_TESTS})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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google_test("${DIR}/${FIL_WE}" ${ABS_FIL})
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endforeach()
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${EIGEN3_INCLUDE_DIR}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
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@ -14,10 +14,3 @@
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add_subdirectory("common")
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add_subdirectory("ground_truth")
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add_subdirectory("io")
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add_subdirectory("kalman_filter")
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add_subdirectory("mapping")
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add_subdirectory("mapping_2d")
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add_subdirectory("mapping_3d")
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add_subdirectory("sensor")
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add_subdirectory("transform")
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@ -15,33 +15,3 @@
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configure_file (
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${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
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${CMAKE_CURRENT_BINARY_DIR}/config.h)
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google_test(common_blocking_queue_test
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SRCS
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blocking_queue_test.cc
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)
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google_test(common_configuration_files_test
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SRCS
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configuration_files_test.cc
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)
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google_test(common_fixed_ratio_sampler_test
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SRCS
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fixed_ratio_sampler_test.cc
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)
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google_test(common_lua_parameter_dictionary_test
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SRCS
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lua_parameter_dictionary_test.cc
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)
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google_test(common_math_test
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SRCS
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math_test.cc
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)
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google_test(common_rate_timer_test
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SRCS
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rate_timer_test.cc
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)
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@ -12,7 +12,6 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_binary(cartographer_compute_relations_metrics
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SRCS
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compute_relations_metrics_main.cc
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@ -1,18 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(io_proto_stream_test
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SRCS
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proto_stream_test.cc
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)
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@ -1,28 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(kalman_filter_gaussian_distribution_test
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SRCS
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gaussian_distribution_test.cc
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)
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google_test(kalman_filter_pose_tracker_test
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SRCS
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pose_tracker_test.cc
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)
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google_test(kalman_filter_unscented_kalman_filter_test
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SRCS
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unscented_kalman_filter_test.cc
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)
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@ -1,33 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(mapping_probability_values_test
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SRCS
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probability_values_test.cc
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)
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google_test(mapping_sparse_pose_graph_test
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SRCS
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sparse_pose_graph_test.cc
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)
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google_test(mapping_submaps_test
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SRCS
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submaps_test.cc
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)
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google_test(mapping_trajectory_connectivity_test
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SRCS
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trajectory_connectivity_test.cc
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)
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@ -1,45 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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add_subdirectory("scan_matching")
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google_test(mapping_2d_range_data_inserter_test
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SRCS
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range_data_inserter_test.cc
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)
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google_test(mapping_2d_map_limits_test
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SRCS
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map_limits_test.cc
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)
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google_test(mapping_2d_probability_grid_test
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SRCS
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probability_grid_test.cc
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)
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google_test(mapping_2d_sparse_pose_graph_test
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SRCS
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sparse_pose_graph_test.cc
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)
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google_test(mapping_2d_submaps_test
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SRCS
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submaps_test.cc
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)
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google_test(mapping_2d_xy_index_test
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SRCS
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xy_index_test.cc
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)
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@ -1,33 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(mapping_2d_scan_matching_ceres_scan_matcher_test
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SRCS
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ceres_scan_matcher_test.cc
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)
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google_test(mapping_2d_scan_matching_correlative_scan_matcher_test
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SRCS
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correlative_scan_matcher_test.cc
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)
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google_test(mapping_2d_scan_matching_fast_correlative_scan_matcher_test
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SRCS
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fast_correlative_scan_matcher_test.cc
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)
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google_test(mapping_2d_scan_matching_real_time_correlative_scan_matcher_test
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SRCS
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real_time_correlative_scan_matcher_test.cc
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)
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@ -1,36 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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add_subdirectory("scan_matching")
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add_subdirectory("sparse_pose_graph")
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google_test(mapping_3d_hybrid_grid_test
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SRCS
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hybrid_grid_test.cc
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)
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google_test(mapping_3d_kalman_local_trajectory_builder_test
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SRCS
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kalman_local_trajectory_builder_test.cc
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)
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google_test(mapping_3d_range_data_inserter_test
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SRCS
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range_data_inserter_test.cc
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)
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google_test(mapping_3d_motion_filter_test
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SRCS
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motion_filter_test.cc
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)
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@ -1,38 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(mapping_3d_scan_matching_ceres_scan_matcher_test
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SRCS
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ceres_scan_matcher_test.cc
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)
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google_test(mapping_3d_scan_matching_fast_correlative_scan_matcher_test
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SRCS
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fast_correlative_scan_matcher_test.cc
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)
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google_test(mapping_3d_scan_matching_interpolated_grid_test
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SRCS
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interpolated_grid_test.cc
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)
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google_test(mapping_3d_scan_matching_precomputation_grid_test
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SRCS
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precomputation_grid_test.cc
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)
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google_test(mapping_3d_scan_matching_real_time_correlative_scan_matcher_test
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SRCS
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real_time_correlative_scan_matcher_test.cc
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)
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@ -1,18 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
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SRCS
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optimization_problem_test.cc
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)
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@ -1,43 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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google_test(sensor_collator_test
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SRCS
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collator_test.cc
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)
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google_test(sensor_compressed_point_cloud_test
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SRCS
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compressed_point_cloud_test.cc
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)
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google_test(sensor_range_data_test
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SRCS
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range_data_test.cc
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)
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google_test(sensor_ordered_multi_queue_test
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SRCS
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ordered_multi_queue_test.cc
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)
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google_test(sensor_point_cloud_test
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SRCS
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point_cloud_test.cc
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)
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google_test(sensor_voxel_filter_test
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SRCS
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voxel_filter_test.cc
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)
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@ -1,23 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
|
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# You may obtain a copy of the License at
|
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#
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# http://www.apache.org/licenses/LICENSE-2.0
|
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
|
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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# See the License for the specific language governing permissions and
|
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# limitations under the License.
|
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google_test(transform_transform_interpolation_buffer_test
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SRCS
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transform_interpolation_buffer_test.cc
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)
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google_test(transform_transform_test
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SRCS
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transform_test.cc
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)
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@ -32,12 +32,8 @@ macro(_common_compile_stuff VISIBILITY)
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target_link_libraries(${NAME} PUBLIC ${PROJECT_NAME})
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endmacro(_common_compile_stuff)
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function(google_test NAME)
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_parse_arguments("${ARGN}")
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add_executable(${NAME}
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${ARG_SRCS} ${ARG_HDRS}
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)
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function(google_test NAME ARG_SRC)
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add_executable(${NAME} ${ARG_SRC})
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_common_compile_stuff("PRIVATE")
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# Make sure that gmock always includes the correct gtest/gtest.h.
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@ -51,9 +47,7 @@ endfunction()
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function(google_binary NAME)
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_parse_arguments("${ARGN}")
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add_executable(${NAME}
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${ARG_SRCS} ${ARG_HDRS}
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)
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add_executable(${NAME} ${ARG_SRCS})
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_common_compile_stuff("PRIVATE")
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|
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@ -1,219 +0,0 @@
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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# Copyright 2016 The Cartographer Authors
|
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
"""A dumb CMakeLists.txt generator that relies on source name conventions."""
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from os import path
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import argparse
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import collections
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import os
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import re
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def MakeRelative(filename, directory):
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absolute_directory = path.realpath(directory)
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filename = path.realpath(filename)
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return path.relpath(filename, absolute_directory)
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def MaybeUseCmakeFile(filename):
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cmake_filename = filename + ".cmake"
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return cmake_filename if os.path.exists(cmake_filename) else filename
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class Target(object):
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"""Container for data for a cmake target."""
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def __init__(self, target_type, name, directory, srcs, hdrs):
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self.type = target_type
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self.name = name
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self.directory = directory
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self.srcs = srcs
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self.hdrs = hdrs
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self.depends = set()
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self.uses = set()
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def __repr__(self):
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return "%s(%s, nsrcs:%s, %s)" % (self.type, self.name, len(self.srcs),
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self.depends)
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def Format(self, directory):
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"""Formats the target for writing into a CMakeLists.txt file."""
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lines = ["%s(%s" % (self.type, self.name),]
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||||
for use in sorted(self.uses):
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lines.append(" " + use)
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|
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if self.srcs:
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||||
lines.append(" SRCS")
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lines.extend(" " + MakeRelative(s, directory)
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||||
for s in sorted(self.srcs))
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|
||||
if self.hdrs:
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||||
lines.append(" HDRS")
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lines.extend(" " + MakeRelative(s, directory)
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||||
for s in sorted(self.hdrs))
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|
||||
if self.depends:
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lines.append(" DEPENDS")
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lines.extend(" " + s for s in sorted(self.depends))
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lines.append(")")
|
||||
return "\n".join(lines) + "\n\n"
|
||||
|
||||
|
||||
def ExtractProjectIncludes(project_name, source):
|
||||
"""Returns all locally included files."""
|
||||
includes = set()
|
||||
for line in open(MaybeUseCmakeFile(source)):
|
||||
match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
|
||||
if match:
|
||||
includes.add(match.group(1))
|
||||
return includes
|
||||
|
||||
|
||||
def FindSourceFiles(basedir):
|
||||
sources = set()
|
||||
for (directory, _, filenames) in os.walk(basedir):
|
||||
for filename in filenames:
|
||||
ext = path.splitext(filename)[-1]
|
||||
if ext in [".h", ".cc"]:
|
||||
sources.add(path.join(directory, filename))
|
||||
elif filename.endswith(".h.cmake"):
|
||||
sources.add(path.join(directory, path.splitext(filename)[0]))
|
||||
yield (directory, sources)
|
||||
|
||||
|
||||
def GetNonGoogleTargetLines(filename):
|
||||
"""Returns text not written by this script.
|
||||
|
||||
Returns a dictionary where keys are target names and values are list of
|
||||
lines that came after this target in the file. It also contains a special key
|
||||
called 'START'
|
||||
for lines that came before any target.
|
||||
"""
|
||||
GOOGLE_TARGET = re.compile(r"^google_[a-z_]*\((.*)$")
|
||||
parts = collections.defaultdict(list)
|
||||
current_target = "START"
|
||||
if path.exists(filename):
|
||||
ignoring = False
|
||||
for line in open(filename):
|
||||
m = GOOGLE_TARGET.match(line)
|
||||
if m is not None:
|
||||
current_target = m.group(1)
|
||||
ignoring = True
|
||||
continue
|
||||
if line == "\n" and ignoring:
|
||||
ignoring = False
|
||||
continue
|
||||
if not ignoring:
|
||||
parts[current_target].append(line)
|
||||
return parts
|
||||
|
||||
|
||||
def ParseArgs():
|
||||
p = argparse.ArgumentParser(
|
||||
description="Automatically update cMakeFiles using build conventions.")
|
||||
p.add_argument("root", type=str, nargs="*", help="Source directory.")
|
||||
|
||||
args = p.parse_args()
|
||||
return args
|
||||
|
||||
|
||||
def main():
|
||||
args = ParseArgs()
|
||||
|
||||
for root in args.root:
|
||||
RunOnDirectory(root)
|
||||
|
||||
|
||||
def RunOnDirectory(root):
|
||||
root = root.rstrip("/")
|
||||
targets_by_src = {}
|
||||
targets = []
|
||||
|
||||
project_name = os.path.basename(root)
|
||||
base_directory = path.realpath(path.join(root, path.pardir))
|
||||
directories = set()
|
||||
|
||||
def AddTarget(target_type, name, directory, srcs, hdrs):
|
||||
"""Adds a new target to 'targets' and updates 'targets_by_src'."""
|
||||
target = Target(target_type, name, directory, srcs, hdrs)
|
||||
targets.append(target)
|
||||
for s in srcs + hdrs:
|
||||
relative_s = MakeRelative(s, base_directory)
|
||||
targets_by_src[relative_s] = target
|
||||
directories.add(directory)
|
||||
|
||||
for (directory, sources) in FindSourceFiles(root):
|
||||
module_name = path.relpath(directory, path.realpath(root)).replace("/", "_")
|
||||
|
||||
prepend_module_name = lambda s: (module_name + "_" + s) if module_name != "." else s
|
||||
headers = set(fn for fn in sources if fn.endswith(".h"))
|
||||
sources -= headers
|
||||
for h in sorted(headers):
|
||||
cc_file = path.splitext(h)[0] + ".cc"
|
||||
if cc_file in sources:
|
||||
sources.remove(cc_file)
|
||||
|
||||
tests = set(fn for fn in sources if fn.endswith("_test.cc"))
|
||||
sources -= tests
|
||||
for c in sorted(tests):
|
||||
name = prepend_module_name(path.basename(path.splitext(c)[0]))
|
||||
AddTarget("google_test", name, directory, [c], [])
|
||||
|
||||
mains = set(fn for fn in sources if fn.endswith("_main.cc"))
|
||||
sources -= mains
|
||||
for c in sorted(mains):
|
||||
# Binaries do not get their full subpath appended, but we prepend
|
||||
# 'cartographer' to distinguish them after installation. So,
|
||||
# 'io/assets_writer_main.cc' will generate a binary called
|
||||
# 'cartographer_assets_writer'.
|
||||
name = "cartographer_" + path.basename(path.splitext(c)[0][:-5])
|
||||
AddTarget("google_binary", name, directory, [c], [])
|
||||
|
||||
assert (not sources), "Remaining sources without target: %s" % sources
|
||||
|
||||
# Write the CMakeLists.txt files.
|
||||
for directory in directories:
|
||||
cmake_file = path.join(directory, "CMakeLists.txt")
|
||||
parts = GetNonGoogleTargetLines(cmake_file)
|
||||
|
||||
sorted_parts = []
|
||||
|
||||
def dump(lines_as_list):
|
||||
lines = "".join(lines_as_list)
|
||||
if not lines:
|
||||
return
|
||||
sorted_parts.append(lines)
|
||||
|
||||
dump(parts["START"])
|
||||
del parts["START"]
|
||||
|
||||
for target in [t for t in targets if t.directory == directory]:
|
||||
dump(target.Format(directory))
|
||||
if target.name in parts:
|
||||
dump(parts[target.name])
|
||||
del parts[target.name]
|
||||
|
||||
for target in sorted(parts.keys()):
|
||||
dump(parts[target])
|
||||
|
||||
with open(cmake_file, "w") as outfile:
|
||||
outfile.write("".join(sorted_parts).rstrip() + "\n")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Loading…
Reference in New Issue