Use installed Abseil. (#1570)
Alexander Belyaev
GitHub
parent
a5aa03b776
commit
ade7605fac
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@ -29,7 +29,7 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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find_package(Abseil REQUIRED)
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find_package(absl REQUIRED)
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set(BOOST_COMPONENTS iostreams)
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if(WIN32)
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list(APPEND BOOST_COMPONENTS zlib)
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@ -268,7 +268,20 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY}
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absl::algorithm
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absl::base
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absl::debugging
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absl::flat_hash_map
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absl::memory
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absl::meta
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absl::numeric
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absl::str_format
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absl::strings
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absl::synchronization
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absl::time
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absl::utility
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)
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if (NOT WIN32)
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target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
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endif()
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@ -28,6 +28,8 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
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COPY scripts/install_debs_cmake.sh cartographer/scripts/
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RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_abseil.sh cartographer/scripts/
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RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_proto3.sh cartographer/scripts/
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RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
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COPY scripts/install_grpc.sh cartographer/scripts/
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@ -28,5 +28,7 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
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COPY scripts/install_debs_cmake.sh cartographer/scripts/
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RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_abseil.sh cartographer/scripts/
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RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
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COPY . cartographer
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RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
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@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_debs_cmake.sh cartographer/scripts/
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RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_abseil.sh cartographer/scripts/
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RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_ceres.sh cartographer/scripts/
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RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
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COPY scripts/install_proto3.sh cartographer/scripts/
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@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_debs_cmake.sh cartographer/scripts/
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RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_abseil.sh cartographer/scripts/
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RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_ceres.sh cartographer/scripts/
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RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
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COPY scripts/install_proto3.sh cartographer/scripts/
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@ -27,6 +27,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_debs_cmake.sh cartographer/scripts/
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RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_abseil.sh cartographer/scripts/
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RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
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COPY scripts/install_ceres.sh cartographer/scripts/
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RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
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COPY scripts/install_proto3.sh cartographer/scripts/
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@ -1,95 +0,0 @@
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# Copyright 2018 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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cmake_minimum_required(VERSION 3.2)
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if(NOT TARGET standalone_absl)
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set(prefix ${CMAKE_STATIC_LIBRARY_PREFIX})
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set(suffix ${CMAKE_STATIC_LIBRARY_SUFFIX})
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include(${CMAKE_ROOT}/Modules/ExternalProject.cmake)
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set(ABSEIL_PROJECT_NAME abseil)
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set(ABSEIL_PROJECT_SRC_DIR
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${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME})
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set(ABSEIL_PROJECT_BUILD_DIR
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${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME}-build)
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set(ABSEIL_INCLUDE_DIRS ${ABSEIL_PROJECT_SRC_DIR})
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set(ABSEIL_LIBRARY_PATH
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/${prefix}absl_synchronization${suffix}")
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set(ABSEIL_DEPENDENT_LIBRARIES
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_symbolize${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/time/${prefix}absl_time${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_internal${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_extension_internal${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_str_format${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_strings${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/hash/${prefix}absl_hash${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_malloc_internal${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_spinlock_wait${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_throw_delegate${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}absl_container${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}test_instance_tracker_lib${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_debugging${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_examine_stack${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_failure_signal_handler${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_leak_check${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stack_consumption${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stacktrace${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/memory/${prefix}absl_memory${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/meta/${prefix}absl_meta${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_int128${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_numeric${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_any${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_any_cast${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_optional_access${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_optional${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_span${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_variant${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/utility/${prefix}absl_utility${suffix}"
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)
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ExternalProject_Add(${ABSEIL_PROJECT_NAME}
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PREFIX ${ABSEIL_PROJECT_NAME}
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GIT_REPOSITORY https://github.com/abseil/abseil-cpp.git
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GIT_TAG 7b46e1d31a6b08b1c6da2a13e7b151a20446fa07
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INSTALL_COMMAND ""
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BUILD_COMMAND ${CMAKE_COMMAND} --build "${ABSEIL_PROJECT_BUILD_DIR}"
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CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
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BUILD_BYPRODUCTS "${ABSEIL_LIBRARY_PATH};${ABSEIL_DEPENDENT_LIBRARIES}"
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)
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add_library(standalone_absl STATIC IMPORTED GLOBAL)
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set_target_properties(standalone_absl
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PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
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${ABSEIL_INCLUDE_DIRS}
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)
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set_target_properties(standalone_absl
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PROPERTIES IMPORTED_LOCATION
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${ABSEIL_LIBRARY_PATH}
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INTERFACE_LINK_LIBRARIES
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"${ABSEIL_DEPENDENT_LIBRARIES}"
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)
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if(MSVC)
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# /wd4005 macro-redefinition
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# /wd4068 unknown pragma
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# /wd4244 conversion from 'type1' to 'type2'
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# /wd4267 conversion from 'size_t' to 'type2'
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# /wd4800 force value to bool 'true' or 'false' (performance warning)
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target_compile_options(standalone_absl INTERFACE /wd4005 /wd4068 /wd4244 /wd4267 /wd4800)
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target_compile_definitions(standalone_absl INTERFACE -DNOMINMAX -DWIN32_LEAN_AND_MEAN=1 -D_CRT_SECURE_NO_WARNINGS)
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endif()
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add_dependencies(standalone_absl ${ABSEIL_PROJECT_NAME})
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unset(prefix)
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unset(suffix)
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endif()
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@ -0,0 +1,32 @@
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#!/bin/sh
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# Copyright 2019 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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set -o errexit
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set -o verbose
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git clone https://github.com/abseil/abseil-cpp.git
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cd abseil-cpp
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git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
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mkdir build
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cd build
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cmake -G Ninja \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
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..
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ninja
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sudo ninja install
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cd /usr/local/stow
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sudo stow absl
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@ -45,7 +45,8 @@ sudo apt-get install -y \
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libgoogle-glog-dev \
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liblua5.2-dev \
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libsuitesparse-dev \
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ninja-build
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ninja-build \
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stow
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if [[ "$(lsb_release -sc)" = "focal" ]]
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then
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