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made leaner

release/4.3a0
Chris Beall 2012-05-14 22:19:42 +00:00
parent 8b6382664b
commit 5d538cbdc2
1 changed files with 25 additions and 67 deletions
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README
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@ -100,11 +100,6 @@ doxygen. To create html documentation for GTSAM, run the the script
makedoc.sh. makedoc.sh.
4) 4)
For developers, we primarily use the Eclipse IDE for development, and provide
an Eclipse project file with a variety of make targets to build and debug
from within Eclipse.
5)
After installing prerequisites for building GTSAM, you can configure and build After installing prerequisites for building GTSAM, you can configure and build
GTSAM using CMake with the default options with the quickstart options. For GTSAM using CMake with the default options with the quickstart options. For
details on the full functionality of CMake, see the CMake documentation. details on the full functionality of CMake, see the CMake documentation.
@ -120,47 +115,33 @@ $] cmake ..
$] make check (optional, runs unit tests) $] make check (optional, runs unit tests)
$] make install $] make install
This will build the library and unit tests, run all of the unit tests, and then install This will build the library and unit tests, run all of the unit tests,
the library itself, as well as the Matlab toolbox. and then install the library itself.
- Additional CMake Options and Details - Additional CMake Options and Details
The cmake scripts force a out-of-source build, so inside gtsam, GTSAM has a number of options that can be configured, which is best done with
create a new folder called "build", and run cmake. From the command line: one of the following:
$] mkdir build ccmake the curses GUI for cmake
$] cd build cmake-gui a real GUI for cmake
$] cmake ..
Note the ".." after the cmake command - it tells cmake to look for the
root CMakeLists.txt file in the root gtsam folder instead of in the build folder.
This is a necessary argument for starting cmake in all of its variations.
There a few ways of actually doing the configuration to make adjusting options easier.
cmake the regular command-line version of cmake, allows configuration with scripts
ccmake the curses GUI for cmake, which lets you see the various options, change them, and run configuration.
cmake-gui a real GUI for cmake, which has a similar interface to ccmake, but with easier controls.
Note that during configuration, the settings get cached so if you rerun cmake later,
it will keep your previous settings. In particular, you can use the "cmake" build target
within the Eclipse project to update the configuration, which will be necessary
when file structures change.
While it is possible to use command-line arguments to cmake to change configuration
options, it is usually easier to use cmake-gui or ccmake to set parameters and use the other flags.
Important CMake configuration options: Important CMake configuration options:
CMAKE_INSTALL_PREFIX: this is the folder where installed files will go, and for CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
our development purposes, should be set to the home folder, like so Debug (default) All error checking options on, no optimization. Use for development.
Release Optimizations turned on, no debug symbols.
Timing Adds ENABLE_TIMING flag to provide statistics on operation
Profiling Standard configuration for use during profiling
RelWithDebInfo Same as Release, but with the -g flag for debug symbols
CMAKE_INSTALL_PREFIX: The install folder. The default is typically /usr/local/
To configure to install to your home directory, you could execute:
$] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME .. $] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME ..
GTSAM_TOOLBOX_INSTALL_PATH: When the library is installed with "make install", GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirectory
the generated matlab toolbox code (created by wrap) gets installed as well in of this folder, called 'gtsam'.
this path. For example, use "/home/username/borg/toolbox" to install the $] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox ..
toolbox in your borg/toolbox folder. The matlab toolbox will get installed
into borg/toolbox/gtsam.
$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/borg/toolbox ..
GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in
subfolders to be linked against convenience libraries rather than the full libgtsam. subfolders to be linked against convenience libraries rather than the full libgtsam.
@ -186,35 +167,12 @@ $] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
folder called "gtsam_unstable". folder called "gtsam_unstable".
OFF (Default) If disabled, no gtsam_unstable code will be included in build or install. OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
Debug (default) All error checking options on, no optimization. Use for development.
Release Optimizations turned on, no debug symbols.
Timing Adds ENABLE_TIMING flag to provide statistics on operation
Profiling Standard configuration for use during profiling
RelWithDebInfo Same as Release, but with the -g flag for debug symbols
Build and Install
After configuring, you use make just as you normally would, and the all, check and
install targets work as in autotools. Note that all targets are at the root level
of the build folder. You can also build any of the subfolders individually as
individual targets, such as "make geometry slam" to build both geometry and slam.
Running "make install" will install the library to the prefix location.
Check Check
As with autotools, "make check" will build and run all of the tests. Note that the "make check" will build and run all of the tests. Note that the tests will only be
tests will only be built when using the "check" targets, to prevent "make install" from built when using the "check" targets, to prevent "make install" from building the tests
building the tests unnecessarily. You can also run "make timing" to build all of unnecessarily. You can also run "make timing" to build all of the timing scripts.
the timing scripts. To run check on a particular subsection, there is a convention To run check on a particular module only, run "make check.[subfolder]", so to run
of "make check.[subfolder]", so to run just the geometry tests, just the geometry tests, run "make check.geometry". Individual tests can be run by
run "make check.geometry". Individual tests can be run by appending ".run" to the appending ".run" to the name of the test, for example, to run testMatrix, run
name of the test, for example, to run testMatrix, run "make testMatrix.run". "make testMatrix.run".
The make target "wrap" will build the wrap binary, and the "wrap_gtsam" target will
generate code for the toolbox. By default, the toolbox will be created and installed
by the install target for the library. To change the install folder for the toolbox,
choose a different setting during cmake settings for the toolbox install path.