Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries
Alex Cunningham
parent
cc79d3d524
commit
02ce40546f
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@ -12,6 +12,10 @@ set (GTSAM_VERSION_PATCH 0)
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set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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# Record the root dir for gtsam - needed during external builds, e.g., ROS
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set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# Load build type flags and default to Debug mode
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include(GtsamBuildTypes)
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@ -56,11 +60,13 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab
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option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
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set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
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# TODO: Check for matlab mex binary before handling building of binaries
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# Flags for building/installing mex files
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option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF)
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option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF)
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option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF)
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option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files")
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set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
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@ -79,15 +85,10 @@ if (GTSAM_USE_QUATERNIONS)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
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endif(GTSAM_USE_QUATERNIONS)
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# Avoid building non-installed exes and unit tests when installing
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# FIXME: breaks generation and install of matlab toolbox
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# FIXME: can't add install dependencies, so libraries never get built
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#set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
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# Alternative version to keep tests from building during make install
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# Use the EXCLUDE_FROM_ALL property on test executables
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option(GTSAM_ENABLE_INSTALL_TEST_FIX "Enable/Disable fix to remove dependency of tests on 'all' target" ON)
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option(GTSAM_ENABLE_INSTALL_EXAMPLE_FIX "Enable/Disable fix to remove dependency of examples on 'all' target" OFF)
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# Flags to determine whether tests and examples are build during 'make install'
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# Note that these remove the targets from the 'all'
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option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
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option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables buildint examples during install" OFF)
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# Pull in infrastructure
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if (GTSAM_BUILD_TESTS)
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@ -100,7 +101,7 @@ endif()
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if(CYGWIN OR MSVC OR WIN32)
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set(Boost_USE_STATIC_LIBS 1)
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endif()
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find_package(Boost 1.40 COMPONENTS serialization system filesystem thread REQUIRED)
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find_package(Boost 1.42 COMPONENTS serialization system filesystem thread REQUIRED)
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# General build settings
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include_directories(
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@ -155,10 +156,6 @@ set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$;/gtsam_unstable/")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
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#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
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# Record the root dir for gtsam - needed during external builds, e.g., ROS
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set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# print configuration variables
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message(STATUS "===============================================================")
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message(STATUS "================ Configuration Options ======================")
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@ -171,10 +168,10 @@ print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Libra
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print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
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if(GTSAM_UNSTABLE_AVAILABLE)
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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endif()
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print_config_flag(${GTSAM_ENABLE_INSTALL_TEST_FIX} "Tests excluded from all target ")
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print_config_flag(${GTSAM_ENABLE_INSTALL_EXAMPLE_FIX} "Examples excluded from all target ")
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print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "Tests excluded from all/install target ")
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print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "Examples excluded from all/install target ")
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string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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@ -192,8 +189,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox
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print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ")
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print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ")
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ")
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print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ")
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print_config_flag(${GTSAM_BUILD_MEX_BIN} "Build MEX binaries ")
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print_config_flag(${GTSAM_INSTALL_MEX_BIN} "Install MEX binaries ")
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message(STATUS "===============================================================")
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# Include CPack *after* all flags
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@ -14,7 +14,7 @@ foreach(example_src ${example_srcs} )
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add_executable(${example_bin} ${example_src})
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# Disable building during make all/install
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if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX)
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if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
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set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
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endif()
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@ -80,7 +80,20 @@ if (GTSAM_BUILD_WRAP)
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# [mexFlags] : extra flags for the mex command
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# TODO: generate these includes programmatically
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable")
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# Choose include flags depending on build process
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if (GTSAM_BUILD_MEX_BIN)
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set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
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set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
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else()
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set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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endif()
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${MEX_LIB_ROOT}/gtsam_unstable -L${MEX_LIB_ROOT}/gtsam -lgtsam -lgtsam_unstable")
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if(MSVC OR CYGWIN OR WINGW)
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set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
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endif()
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
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set(moduleName gtsam_unstable)
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@ -98,9 +111,9 @@ if (GTSAM_BUILD_WRAP)
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DEPENDS wrap)
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# Build command
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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if (GTSAM_BUILD_MEX_BIN)
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# Actually compile the mex files when building the library
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
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if (GTSAM_INSTALL_MEX_BIN)
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add_custom_target(wrap_gtsam_unstable_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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@ -111,7 +124,7 @@ if (GTSAM_BUILD_WRAP)
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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endif()
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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endif ()
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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@ -16,7 +16,7 @@ endif(GTSAM_INSTALL_WRAP)
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install(FILES matlab.h DESTINATION include/wrap)
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# Build tests
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if (GTSAM_BUILD_TESTS)
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if (GTSAM_BUILD_TESTS)
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add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
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set(wrap_local_libs wrap_lib)
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gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "")
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@ -31,7 +31,16 @@ endif(GTSAM_BUILD_TESTS)
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam")
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# Choose include flags depending on build process
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if (GTSAM_BUILD_MEX_BIN)
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set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
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set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
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else()
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set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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endif()
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam")
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if(MSVC OR CYGWIN OR WINGW)
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set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
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endif()
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@ -59,11 +68,11 @@ add_custom_target(wrap_gtsam ALL COMMAND
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DEPENDS wrap)
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# Build command
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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if (GTSAM_BUILD_MEX_BIN)
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# Actually compile the mex files when building the library
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# TODO: pass correct make flags from parent process
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message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
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if (GTSAM_INSTALL_MEX_BIN)
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add_custom_target(wrap_gtsam_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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@ -74,9 +83,7 @@ if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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endif()
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
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endif ()
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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