Simplified matlab wrapper cmake options
Richard Roberts
parent
7f63d23565
commit
191d73df0b
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@ -36,42 +36,48 @@ else()
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set(GTSAM_UNSTABLE_AVAILABLE 0)
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endif()
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# Configurable Options
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option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
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option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON)
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option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
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if(GTSAM_UNSTABLE_AVAILABLE)
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option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" OFF)
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option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
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endif()
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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if(MSVC)
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option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" OFF)
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else()
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if(NOT MSVC)
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option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
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endif()
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option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON)
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
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if(MSVC)
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option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
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option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON)
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else()
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set(GTSAM_BUILD_STATIC_LIBRARY ON)
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endif()
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
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if(NOT MSVC)
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option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON)
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endif()
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
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option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
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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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set(GTSAM_WRAP_HEADER_PATH ${PROJECT_SOURCE_DIR}/wrap CACHE DOCSTRING "Path to directory of matlab.h")
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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# Flags for building/installing mex files
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option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF)
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option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running Matlab MEX compilation")
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON)
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set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE DOCSTRING "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox")
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
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# Check / set dependent variables for MATLAB wrapper
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set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox")
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endif()
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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@ -90,7 +96,7 @@ endif(GTSAM_USE_QUATERNIONS)
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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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option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
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# Pull in infrastructure
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if (GTSAM_BUILD_TESTS)
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@ -134,7 +140,9 @@ if (GTSAM_BUILD_EXAMPLES)
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endif(GTSAM_BUILD_EXAMPLES)
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# Matlab toolbox
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add_subdirectory(matlab)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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add_subdirectory(matlab)
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endif()
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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@ -168,11 +176,12 @@ message(STATUS "Build flags ")
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print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
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print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ")
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print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
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print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
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print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
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if(NOT MSVC)
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print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
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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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endif()
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print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ")
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print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
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if(GTSAM_UNSTABLE_AVAILABLE)
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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endif()
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@ -192,11 +201,8 @@ print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default R
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message(STATUS "MATLAB toolbox flags ")
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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_BUILD_WRAP} "Build Wrap ")
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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print_config_flag(${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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@ -115,21 +115,15 @@ if (GTSAM_BUILD_SHARED_LIBRARY)
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endif(GTSAM_BUILD_SHARED_LIBRARY)
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# Create the matlab toolbox for the gtsam library
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if (GTSAM_BUILD_WRAP)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Set up codegen
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include(GtsamMatlabWrap)
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# TODO: generate these includes programmatically
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT})
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endif()
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
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# Generate, build and install toolbox
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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)
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@ -73,23 +73,16 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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# Wrap version for gtsam_unstable
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if (GTSAM_BUILD_WRAP)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Set up codegen
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include(GtsamMatlabWrap)
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# TODO: generate these includes programmatically
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable)
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT})
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT})
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endif()
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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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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable)
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# Generate, build and install toolbox
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set(mexFlags -I${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)
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@ -97,4 +90,4 @@ if (GTSAM_BUILD_WRAP)
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# Macro to handle details of setting up targets
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wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam)
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endif(GTSAM_BUILD_WRAP)
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endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
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@ -1,37 +1,29 @@
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# Install matlab components
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if (GTSAM_BUILD_WRAP)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Utility functions
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message(STATUS "Installing Matlab Utility Functions")
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# Matlab files: *.m and *.fig
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file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m")
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file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig")
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set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig})
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install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam)
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# Tests
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if (GTSAM_INSTALL_MATLAB_TESTS)
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m")
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install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
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endif ()
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# Utility functions
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message(STATUS "Installing Matlab Utility Functions")
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# Matlab files: *.m and *.fig
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file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m")
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file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig")
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set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig})
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install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam)
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# Examples
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if (GTSAM_INSTALL_MATLAB_EXAMPLES)
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message(STATUS "Installing Matlab Toolbox Examples")
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# Matlab files: *.m and *.fig
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file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
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file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
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set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
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# Tests
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m")
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install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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# Data files: *.graph and *.txt
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file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
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set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
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install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
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endif ()
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endif ()
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endif ()
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# Examples
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message(STATUS "Installing Matlab Toolbox Examples")
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# Matlab files: *.m and *.fig
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file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m")
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file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig")
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set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig})
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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# Data files: *.graph and *.txt
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file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
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set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
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install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
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@ -1,6 +1,6 @@
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# Build/install Wrap
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find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED)
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find_package(Boost 1.43 COMPONENTS system filesystem thread REQUIRED)
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# Build the executable itself
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file(GLOB wrap_srcs "*.cpp")
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