Extend CMake functions for reuse in other Cartographer subprojects. (#45)
- Change CARTOGRAPHER_LIBRARIES to be absolute path to adhere to the CMake documentation.master
Holger Rapp
GitHub
parent
f6c9f9565f
commit
8e7996f015
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@ -22,23 +22,7 @@ set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERS
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set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
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include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Release")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
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message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
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else()
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message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
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endif()
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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google_initialize_cartographer_project()
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(Ceres REQUIRED)
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@ -52,26 +36,6 @@ if(SPHINX_FOUND)
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add_subdirectory("docs")
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endif()
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set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
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add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
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google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
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if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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google_add_flag(GOOG_CXX_FLAGS "-Weverything")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
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else()
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google_add_flag(GOOG_CXX_FLAGS "-Wall")
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google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
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endif()
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# Turn some warnings into errors. These are defined for clang and gcc.
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google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
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enable_testing()
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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@ -82,6 +46,8 @@ install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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add_subdirectory("cartographer")
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include(CMakePackageConfigHelpers)
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@ -96,11 +62,15 @@ list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
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set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
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google_combined_library(cartographer
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SRCS "${ALL_LIBRARIES}"
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)
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get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
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get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
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${CARTOGRAPHER_LIBRARY_FILE} NAME)
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install(
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FILES
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${CARTOGRAPHER_LIBRARY_FILE}
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@ -109,7 +79,7 @@ install(
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)
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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@ -119,7 +89,7 @@ list(APPEND CARTOGRAPHER_LIBRARIES "webp")
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CONFIGURE_PACKAGE_CONFIG_FILE(
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cartographer-config.cmake.in
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
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PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS CARTOGRAPHER_CMAKE_DIR
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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@ -29,6 +29,7 @@
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set(CARTOGRAPHER_INCLUDE_DIRS "@PACKAGE_CARTOGRAPHER_INCLUDE_DIRS@")
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set(CARTOGRAPHER_LIBRARY_DIRS "@PACKAGE_CARTOGRAPHER_LIBRARY_DIRS@")
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set(CARTOGRAPHER_CMAKE_DIR "@PACKAGE_CARTOGRAPHER_CMAKE_DIR@")
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set(CARTOGRAPHER_LIBRARIES
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"@CARTOGRAPHER_LIBRARIES@"
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@ -25,6 +25,14 @@ macro(_parse_arguments ARGS)
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USES_GLOG
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USES_GFLAGS
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)
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# Options only used by projects using Cartographers cmake files.
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list(APPEND OPTIONS
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USES_CARTOGRAPHER
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USES_ROS
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USES_ZLIB
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USES_PCL
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)
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set(ONE_VALUE_ARG )
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set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
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cmake_parse_arguments(ARG
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@ -33,31 +41,29 @@ endmacro(_parse_arguments)
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macro(_common_compile_stuff VISIBILITY)
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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set_target_properties(${NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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if(ARG_USES_EIGEN)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${EIGEN3_INCLUDE_DIR}")
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target_link_libraries("${NAME}" "${EIGEN3_LIBRARIES}")
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target_link_libraries("${NAME}" ${EIGEN3_LIBRARIES})
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endif()
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if(ARG_USES_CERES)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${CERES_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" "${CERES_LIBRARIES}")
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target_link_libraries("${NAME}" ${CERES_LIBRARIES})
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endif()
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if(ARG_USES_LUA)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${LUA_INCLUDE_DIR}")
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target_link_libraries("${NAME}" "${LUA_LIBRARIES}")
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target_link_libraries("${NAME}" ${LUA_LIBRARIES})
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endif()
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if(ARG_USES_BOOST)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"{Boost_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" "${Boost_LIBRARIES}")
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target_link_libraries("${NAME}" ${Boost_LIBRARIES})
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endif()
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if(ARG_USES_WEBP)
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@ -73,6 +79,38 @@ macro(_common_compile_stuff VISIBILITY)
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target_link_libraries("${NAME}" gflags)
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endif()
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if(ARG_USES_ROS)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${catkin_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" ${catkin_LIBRARIES})
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add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
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)
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endif()
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if(ARG_USES_ZLIB)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${ZLIB_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" ${ZLIB_LIBRARIES})
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endif()
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if(ARG_USES_CARTOGRAPHER)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${CARTOGRAPHER_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" ${CARTOGRAPHER_LIBRARIES})
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endif()
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if(ARG_USES_PCL)
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target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
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"${PCL_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" ${PCL_LIBRARIES})
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foreach(DEFINITION ${PCL_DEFINITIONS})
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
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endforeach()
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endif()
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set_target_properties(${NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories("${NAME}" ${VISIBILITY} "${CMAKE_BINARY_DIR}")
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@ -265,5 +303,38 @@ function(google_proto_library NAME)
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"${PROTOBUF_INCLUDE_DIR}")
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# TODO(hrapp): This should not explicityly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries("${NAME}" "${PROTOBUF_LIBRARY}" pthread)
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target_link_libraries("${NAME}" ${PROTOBUF_LIBRARY} pthread)
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endfunction()
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macro(google_initialize_cartographer_project)
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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set(GOOG_CXX_FLAGS "-pthread -std=c++11 ${GOOG_CXX_FLAGS}")
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google_add_flag(GOOG_CXX_FLAGS "-Wall")
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google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
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# Turn some warnings into errors.
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google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
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if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Release")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
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message(FATAL_ERROR "Compiling in debug mode is not supported.")
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else()
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message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
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endif()
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
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add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
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endmacro()
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