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Merged gtborg/gtsam into develop

release/4.3a0
Mike Sheffler 2018-05-14 17:01:17 -07:00
parent 482d937293 bd1f40edb7
commit 0d7997a6aa
3 changed files with 19 additions and 5 deletions
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18
cmake/FindMKL.cmake
View File

@ -83,10 +83,20 @@ FIND_PATH(MKL_FFTW_INCLUDE_DIR
NO_DEFAULT_PATH NO_DEFAULT_PATH
) )
IF(WIN32) IF(WIN32 AND MKL_ROOT_DIR)
SET(MKL_LIB_SEARCHPATH $ENV{ICC_LIB_DIR} $ENV{MKL_LIB_DIR} "${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}" "${MKL_ROOT_DIR}/../compiler" "${MKL_ROOT_DIR}/../compiler/lib/${MKL_ARCH_DIR}") SET(MKL_LIB_SEARCHPATH $ENV{ICC_LIB_DIR} $ENV{MKL_LIB_DIR} "${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}" "${MKL_ROOT_DIR}/../compiler" "${MKL_ROOT_DIR}/../compiler/lib/${MKL_ARCH_DIR}")
IF(MKL_INCLUDE_DIR MATCHES "2017" OR MKL_INCLUDE_DIR MATCHES "2018")
IF (MKL_INCLUDE_DIR MATCHES "10.") IF(CMAKE_CL_64)
SET(MKL_LIBS mkl_core mkl_intel_lp64 mkl_lapack95_lp64 mkl_blas95_lp64)
ELSE()
SET(MKL_LIBS mkl_core mkl_intel_s mkl_lapack95 mkl_blas95)
ENDIF()
IF(TBB_FOUND AND GTSAM_WITH_TBB)
SET(MKL_LIBS ${MKL_LIBS} mkl_tbb_thread)
ELSE()
SET(MKL_LIBS ${MKL_LIBS} mkl_intel_thread libiomp5md)
ENDIF()
ELSEIF(MKL_INCLUDE_DIR MATCHES "10.")
IF(CMAKE_CL_64) IF(CMAKE_CL_64)
SET(MKL_LIBS mkl_solver_lp64 mkl_core mkl_intel_lp64 mkl_intel_thread libguide mkl_lapack95_lp64 mkl_blas95_lp64) SET(MKL_LIBS mkl_solver_lp64 mkl_core mkl_intel_lp64 mkl_intel_thread libguide mkl_lapack95_lp64 mkl_blas95_lp64)
ELSE() ELSE()
@ -115,7 +125,7 @@ IF(WIN32)
ENDIF() ENDIF()
ENDFOREACH() ENDFOREACH()
SET(MKL_FOUND ON) SET(MKL_FOUND ON)
ELSE() # UNIX and macOS ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
FIND_LIBRARY(MKL_CORE_LIBRARY FIND_LIBRARY(MKL_CORE_LIBRARY
mkl_core mkl_core
PATHS PATHS

4
cmake/FindTBB.cmake
View File

@ -82,6 +82,10 @@ if (WIN32)
set(_TBB_COMPILER "vc11") set(_TBB_COMPILER "vc11")
set(TBB_COMPILER "vc11") set(TBB_COMPILER "vc11")
endif(MSVC11) endif(MSVC11)
if(MSVC14)
set(_TBB_COMPILER "vc14")
set(TBB_COMPILER "vc14")
endif(MSVC14)
# Todo: add other Windows compilers such as ICL. # Todo: add other Windows compilers such as ICL.
if(TBB_ARCHITECTURE) if(TBB_ARCHITECTURE)
set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE}) set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})

2
gtsam/geometry/Rot3.h
View File

@ -118,7 +118,7 @@ namespace gtsam {
* @param q The quaternion * @param q The quaternion
*/ */
Rot3(const Quaternion& q); Rot3(const Quaternion& q);
Rot3(double x, double y, double z, double w) : Rot3(Quaternion(x, y, z, w)) {} Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}
/// Random, generates a random axis, then random angle \in [-p,pi] /// Random, generates a random axis, then random angle \in [-p,pi]
static Rot3 Random(boost::mt19937 & rng); static Rot3 Random(boost::mt19937 & rng);