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Merge pull request #1536 from borglab/cmake-updates

release/4.3a0
Varun Agrawal 2023-06-09 01:01:03 -04:00 committed by GitHub
parent 213543d917 6584b78cb4
commit 13cb9d8f8c
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 31 additions and 4 deletions
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3
cmake/HandleGeneralOptions.cmake
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@ -19,7 +19,8 @@ option(GTSAM_FORCE_STATIC_LIB "Force gtsam to be a static library,
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_ENABLE_MEMORY_SANITIZER "Enable/Disable memory sanitizer" OFF)
option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)

7
cmake/HandleGlobalBuildFlags.cmake
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@ -50,3 +50,10 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
if(GTSAM_ENABLE_MEMORY_SANITIZER)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=address -fsanitize=leak -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address -fsanitize=leak -g")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address -fsanitize=leak")
set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -fsanitize=address -fsanitize=leak")
endif()

1
cmake/HandlePrintConfiguration.cmake
View File

@ -87,6 +87,7 @@ print_config("CPack Generator" "${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_enabled_config(${GTSAM_ENABLE_MEMORY_SANITIZER} "Build with Memory Sanitizer ")
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43} "Allow features deprecated in GTSAM 4.3")

3
gtsam/base/tests/testStdOptionalSerialization.cpp
View File

@ -149,6 +149,9 @@ TEST(StdOptionalSerialization, SerializTestOptionalStructPointerPointer) {
// Check that it worked
EXPECT(opt2.has_value());
EXPECT(**opt2 == TestOptionalStruct(42));
delete (*opt);
delete (*opt2);
}
int main() {

21
wrap/cmake/MatlabWrap.cmake
View File

@ -105,7 +105,12 @@ function(wrap_library_internal interfaceHeader moduleName linkLibraries extraInc
set(mexModuleExt mexglx)
endif()
elseif(APPLE)
set(mexModuleExt mexmaci64)
check_cxx_compiler_flag("-arch arm64" arm64Supported)
if (arm64Supported)
set(mexModuleExt mexmaca64)
else()
set(mexModuleExt mexmaci64)
endif()
elseif(MSVC)
if(CMAKE_CL_64)
set(mexModuleExt mexw64)
@ -299,7 +304,12 @@ function(wrap_library_internal interfaceHeader moduleName linkLibraries extraInc
APPEND
PROPERTY COMPILE_FLAGS "/bigobj")
elseif(APPLE)
set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
check_cxx_compiler_flag("-arch arm64" arm64Supported)
if (arm64Supported)
set(mxLibPath "${MATLAB_ROOT}/bin/maca64")
else()
set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
endif()
target_link_libraries(
${moduleName}_matlab_wrapper "${mxLibPath}/libmex.dylib"
"${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
@ -367,7 +377,12 @@ function(check_conflicting_libraries_internal libraries)
if(UNIX)
# Set path for matlab's built-in libraries
if(APPLE)
set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
check_cxx_compiler_flag("-arch arm64" arm64Supported)
if (arm64Supported)
set(mxLibPath "${MATLAB_ROOT}/bin/maca64")
else()
set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
endif()
else()
if(CMAKE_CL_64)
set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64")