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Simplified matlab wrapper cmake options

release/4.3a0
Richard Roberts 2012-07-13 21:54:52 +00:00
parent 7f63d23565
commit 191d73df0b
5 changed files with 76 additions and 91 deletions
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68
CMakeLists.txt
View File

@ -36,42 +36,48 @@ else()
set(GTSAM_UNSTABLE_AVAILABLE 0) set(GTSAM_UNSTABLE_AVAILABLE 0)
endif() endif()
# Configurable Options # Configurable Options
option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON)
option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" OFF) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
endif() endif()
option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) if(NOT MSVC)
if(MSVC)
option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" OFF)
else()
option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
endif() option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON)
option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
if(MSVC)
option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
else() else()
set(GTSAM_BUILD_STATIC_LIBRARY ON)
endif()
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
if(NOT MSVC)
option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON) option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON)
endif() endif()
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" 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")
set(GTSAM_WRAP_HEADER_PATH ${PROJECT_SOURCE_DIR}/wrap CACHE DOCSTRING "Path to directory of matlab.h")
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries # TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
# Flags for building/installing mex files option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON)
option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE DOCSTRING "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox")
set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running Matlab MEX compilation") set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
# Check / set dependent variables for MATLAB wrapper
set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
endif()
if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
endif()
if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox")
endif()
# Flags for choosing default packaging tools # Flags for choosing default packaging tools
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
@ -90,7 +96,7 @@ endif(GTSAM_USE_QUATERNIONS)
# Flags to determine whether tests and examples are build during 'make install' # Flags to determine whether tests and examples are build during 'make install'
# Note that these remove the targets from the 'all' # Note that these remove the targets from the 'all'
option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON) option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables buildint examples during install" OFF) option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
# Pull in infrastructure # Pull in infrastructure
if (GTSAM_BUILD_TESTS) if (GTSAM_BUILD_TESTS)
@ -134,7 +140,9 @@ if (GTSAM_BUILD_EXAMPLES)
endif(GTSAM_BUILD_EXAMPLES) endif(GTSAM_BUILD_EXAMPLES)
# Matlab toolbox # Matlab toolbox
add_subdirectory(matlab) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
add_subdirectory(matlab)
endif()
# Build gtsam_unstable # Build gtsam_unstable
if (GTSAM_BUILD_UNSTABLE) if (GTSAM_BUILD_UNSTABLE)
@ -168,11 +176,12 @@ message(STATUS "Build flags ")
print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ") print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ")
print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") if(NOT MSVC)
print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
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(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
endif()
print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ") print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ")
print_config_flag(${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()
@ -192,11 +201,8 @@ print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default R
message(STATUS "MATLAB toolbox flags ") message(STATUS "MATLAB toolbox flags ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
print_config_flag(${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(${GTSAM_BUILD_MEX_BIN} "Build MEX binaries ")
print_config_flag(${GTSAM_INSTALL_MEX_BIN} "Install MEX binaries ")
message(STATUS "===============================================================") message(STATUS "===============================================================")
# Include CPack *after* all flags # Include CPack *after* all flags

8
gtsam/CMakeLists.txt
View File

@ -115,21 +115,15 @@ if (GTSAM_BUILD_SHARED_LIBRARY)
endif(GTSAM_BUILD_SHARED_LIBRARY) endif(GTSAM_BUILD_SHARED_LIBRARY)
# Create the matlab toolbox for the gtsam library # Create the matlab toolbox for the gtsam library
if (GTSAM_BUILD_WRAP) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Set up codegen # Set up codegen
include(GtsamMatlabWrap) include(GtsamMatlabWrap)
# TODO: generate these includes programmatically # TODO: generate these includes programmatically
# Choose include flags depending on build process # Choose include flags depending on build process
if (GTSAM_BUILD_MEX_BIN)
set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
else()
set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
set(GTSAM_LIB_DIR ${MEX_LIB_ROOT})
endif()
# Generate, build and install toolbox # Generate, build and install toolbox
set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${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) set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${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)

11
gtsam_unstable/CMakeLists.txt
View File

@ -73,23 +73,16 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
# Wrap version for gtsam_unstable # Wrap version for gtsam_unstable
if (GTSAM_BUILD_WRAP) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Set up codegen # Set up codegen
include(GtsamMatlabWrap) include(GtsamMatlabWrap)
# TODO: generate these includes programmatically # TODO: generate these includes programmatically
# Choose include flags depending on build process # Choose include flags depending on build process
if (GTSAM_BUILD_MEX_BIN)
set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable)
else()
set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
set(GTSAM_LIB_DIR ${MEX_LIB_ROOT})
set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT})
endif()
# Generate, build and install toolbox # Generate, build and install toolbox
set(mexFlags -I${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) set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete)
@ -97,4 +90,4 @@ if (GTSAM_BUILD_WRAP)
# Macro to handle details of setting up targets # Macro to handle details of setting up targets
wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam) wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam)
endif(GTSAM_BUILD_WRAP) endif(GTSAM_INSTALL_MATLAB_TOOLBOX)

56
matlab/CMakeLists.txt
View File

@ -1,37 +1,29 @@
# Install matlab components # Install matlab components
if (GTSAM_BUILD_WRAP)
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Utility functions
message(STATUS "Installing Matlab Utility Functions")
# Matlab files: *.m and *.fig
file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m")
file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig")
set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig})
install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam)
# Tests # Utility functions
if (GTSAM_INSTALL_MATLAB_TESTS) message(STATUS "Installing Matlab Utility Functions")
message(STATUS "Installing Matlab Toolbox Tests") # Matlab files: *.m and *.fig
file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m")
install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig")
endif () set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig})
install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam)
# Examples # Tests
if (GTSAM_INSTALL_MATLAB_EXAMPLES) message(STATUS "Installing Matlab Toolbox Tests")
message(STATUS "Installing Matlab Toolbox Examples") file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m")
# Matlab files: *.m and *.fig install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
message(STATUS "Installing Matlab Toolbox Examples (Data)") # Examples
# Data files: *.graph and *.txt message(STATUS "Installing Matlab Toolbox Examples")
file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") # Matlab files: *.m and *.fig
file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
endif () install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
endif ()
endif ()
message(STATUS "Installing Matlab Toolbox Examples (Data)")
# Data files: *.graph and *.txt
file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)

2
wrap/CMakeLists.txt
View File

@ -1,6 +1,6 @@
# Build/install Wrap # Build/install Wrap
find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) find_package(Boost 1.43 COMPONENTS system filesystem thread REQUIRED)
# Build the executable itself # Build the executable itself
file(GLOB wrap_srcs "*.cpp") file(GLOB wrap_srcs "*.cpp")