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Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries

release/4.3a0
Alex Cunningham 2012-06-05 17:20:19 +00:00
parent cc79d3d524
commit 02ce40546f
4 changed files with 50 additions and 33 deletions
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39
CMakeLists.txt
View File

@ -12,6 +12,10 @@ set (GTSAM_VERSION_PATCH 0)
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
# Record the root dir for gtsam - needed during external builds, e.g., ROS
set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
# Load build type flags and default to Debug mode # Load build type flags and default to Debug mode
include(GtsamBuildTypes) include(GtsamBuildTypes)
@ -56,11 +60,13 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab
option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
# TODO: Check for matlab mex binary before handling building of binaries # TODO: Check for matlab mex binary before handling building of binaries
# Flags for building/installing mex files # Flags for building/installing mex files
option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF)
option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF) option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF)
set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files")
set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
@ -79,15 +85,10 @@ if (GTSAM_USE_QUATERNIONS)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
endif(GTSAM_USE_QUATERNIONS) endif(GTSAM_USE_QUATERNIONS)
# Avoid building non-installed exes and unit tests when installing # Flags to determine whether tests and examples are build during 'make install'
# FIXME: breaks generation and install of matlab toolbox # Note that these remove the targets from the 'all'
# FIXME: can't add install dependencies, so libraries never get built option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
#set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE) option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables buildint examples during install" OFF)
# Alternative version to keep tests from building during make install
# Use the EXCLUDE_FROM_ALL property on test executables
option(GTSAM_ENABLE_INSTALL_TEST_FIX "Enable/Disable fix to remove dependency of tests on 'all' target" ON)
option(GTSAM_ENABLE_INSTALL_EXAMPLE_FIX "Enable/Disable fix to remove dependency of examples on 'all' target" OFF)
# Pull in infrastructure # Pull in infrastructure
if (GTSAM_BUILD_TESTS) if (GTSAM_BUILD_TESTS)
@ -100,7 +101,7 @@ endif()
if(CYGWIN OR MSVC OR WIN32) if(CYGWIN OR MSVC OR WIN32)
set(Boost_USE_STATIC_LIBS 1) set(Boost_USE_STATIC_LIBS 1)
endif() endif()
find_package(Boost 1.40 COMPONENTS serialization system filesystem thread REQUIRED) find_package(Boost 1.42 COMPONENTS serialization system filesystem thread REQUIRED)
# General build settings # General build settings
include_directories( include_directories(
@ -155,10 +156,6 @@ set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$;/gtsam_unstable/")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
# Record the root dir for gtsam - needed during external builds, e.g., ROS
set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
# print configuration variables # print configuration variables
message(STATUS "===============================================================") message(STATUS "===============================================================")
message(STATUS "================ Configuration Options ======================") message(STATUS "================ Configuration Options ======================")
@ -171,10 +168,10 @@ print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Libra
print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
endif() endif()
print_config_flag(${GTSAM_ENABLE_INSTALL_TEST_FIX} "Tests excluded from all target ") print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "Tests excluded from all/install target ")
print_config_flag(${GTSAM_ENABLE_INSTALL_EXAMPLE_FIX} "Examples excluded from all target ") print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "Examples excluded from all/install target ")
string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper) string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
message(STATUS " Build type : ${CMAKE_BUILD_TYPE}") message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}") message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
@ -192,8 +189,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox
print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ") print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ")
print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ") print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ") print_config_flag(${GTSAM_BUILD_MEX_BIN} "Build MEX binaries ")
print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ") print_config_flag(${GTSAM_INSTALL_MEX_BIN} "Install MEX binaries ")
message(STATUS "===============================================================") message(STATUS "===============================================================")
# Include CPack *after* all flags # Include CPack *after* all flags

2
examples/CMakeLists.txt
View File

@ -14,7 +14,7 @@ foreach(example_src ${example_srcs} )
add_executable(${example_bin} ${example_src}) add_executable(${example_bin} ${example_src})
# Disable building during make all/install # Disable building during make all/install
if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON) set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
endif() endif()

21
gtsam_unstable/CMakeLists.txt
View File

@ -80,7 +80,20 @@ if (GTSAM_BUILD_WRAP)
# [mexFlags] : extra flags for the mex command # [mexFlags] : extra flags for the mex command
# TODO: generate these includes programmatically # TODO: generate these includes programmatically
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") # Choose include flags depending on build process
if (GTSAM_BUILD_MEX_BIN)
set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
else()
set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
endif()
set(mexFlags "-I${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")
if(MSVC OR CYGWIN OR WINGW)
set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
endif()
set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable) set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
set(moduleName gtsam_unstable) set(moduleName gtsam_unstable)
@ -98,9 +111,9 @@ if (GTSAM_BUILD_WRAP)
DEPENDS wrap) DEPENDS wrap)
# Build command # Build command
if (GTSAM_ENABLE_BUILD_MEX_BINARIES) if (GTSAM_BUILD_MEX_BIN)
# Actually compile the mex files when building the library # Actually compile the mex files when building the library
if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) if (GTSAM_INSTALL_MEX_BIN)
add_custom_target(wrap_gtsam_unstable_build ALL add_custom_target(wrap_gtsam_unstable_build ALL
COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path} WORKING_DIRECTORY ${toolbox_path}
@ -111,7 +124,7 @@ if (GTSAM_BUILD_WRAP)
WORKING_DIRECTORY ${toolbox_path} WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam_unstable) DEPENDS wrap_gtsam_unstable)
endif() endif()
endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) endif ()
if (GTSAM_INSTALL_MATLAB_TOOLBOX) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Primary toolbox files # Primary toolbox files

19
wrap/CMakeLists.txt
View File

@ -31,7 +31,16 @@ endif(GTSAM_BUILD_TESTS)
# toolboxPath : the directory in which to generate the wrappers # toolboxPath : the directory in which to generate the wrappers
# [mexFlags] : extra flags for the mex command # [mexFlags] : extra flags for the mex command
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") # Choose include flags depending on build process
if (GTSAM_BUILD_MEX_BIN)
set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
else()
set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
endif()
set(mexFlags "-I${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")
if(MSVC OR CYGWIN OR WINGW) if(MSVC OR CYGWIN OR WINGW)
set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
endif() endif()
@ -59,11 +68,11 @@ add_custom_target(wrap_gtsam ALL COMMAND
DEPENDS wrap) DEPENDS wrap)
# Build command # Build command
if (GTSAM_ENABLE_BUILD_MEX_BINARIES) if (GTSAM_BUILD_MEX_BIN)
# Actually compile the mex files when building the library # Actually compile the mex files when building the library
# TODO: pass correct make flags from parent process # TODO: pass correct make flags from parent process
message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}") message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) if (GTSAM_INSTALL_MEX_BIN)
add_custom_target(wrap_gtsam_build ALL add_custom_target(wrap_gtsam_build ALL
COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path} WORKING_DIRECTORY ${toolbox_path}
@ -74,9 +83,7 @@ if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
WORKING_DIRECTORY ${toolbox_path} WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam) DEPENDS wrap_gtsam)
endif() endif()
endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) endif ()
set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
if (GTSAM_INSTALL_MATLAB_TOOLBOX) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Primary toolbox files # Primary toolbox files