From 827f3feb6b9da405f1162f1fce5bf1bce5824422 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Mar 2021 09:17:22 -0500
Subject: [PATCH] update Matlab CMakeLists.txt to use the wrapper

---
 matlab/CMakeLists.txt | 216 ++++++++++++++++++++++--------------------
 1 file changed, 111 insertions(+), 105 deletions(-)

diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 037787dfa..1e7e88612 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -1,53 +1,72 @@
 # Install matlab components
 
+# Check if flag is enabled
+if(NOT GTSAM_INSTALL_MATLAB_TOOLBOX)
+  return()
+endif()
+
 # Create the matlab toolbox for the gtsam library
-if(GTSAM_INSTALL_MATLAB_TOOLBOX)
 
-  # Set the wrapping script variable
-  set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
+# Set the wrapping script variable
+set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
 
-  # Set up cache options
-  option(GTSAM_MEX_BUILD_STATIC_MODULE
-         "Build MATLAB wrapper statically (increases build time)" OFF)
-  set(GTSAM_BUILD_MEX_BINARY_FLAGS
-      ""
-      CACHE STRING "Extra flags for running Matlab MEX compilation")
-  set(GTSAM_TOOLBOX_INSTALL_PATH
-      ""
-      CACHE
-        PATH
-        "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox"
+# Set up cache options
+option(GTSAM_MEX_BUILD_STATIC_MODULE
+       "Build MATLAB wrapper statically (increases build time)" OFF)
+set(GTSAM_BUILD_MEX_BINARY_FLAGS
+    ""
+    CACHE STRING "Extra flags for running Matlab MEX compilation")
+set(GTSAM_TOOLBOX_INSTALL_PATH
+    ""
+    CACHE
+      PATH
+      "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox"
+)
+if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
+  set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
+endif()
+
+set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE})
+set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS})
+set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH})
+set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH})
+set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
+
+# Fixup the Python paths
+if(GTWRAP_DIR)
+  # packaged
+  set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
+else()
+  set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap)
+endif()
+
+include(MatlabWrap)
+
+if(NOT BUILD_SHARED_LIBS)
+  message(
+    FATAL_ERROR
+      "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF."
+      "The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries."
+      "If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF."
   )
-  if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
-    set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
-  endif()
+endif()
 
-  set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE})
-  set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS})
-  set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH})
-  set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH})
-  set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
+# ##############################################################################
+# Generate, build and install toolbox
+set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
+if(NOT BUILD_SHARED_LIBS)
+  list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
+endif()
 
-  # Fixup the Python paths
-  if(GTWRAP_DIR)
-    # packaged
-    set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
-  else()
-    set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap)
-  endif()
+set(ignore gtsam::Point2 gtsam::Point3 gtsam::BearingRangeFactor
+            gtsam::BearingRangeFactor2D gtsam::BearingRangeFactorPose2)
 
-  include(MatlabWrap)
+# Wrap
+matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}"
+            "" "${mexFlags}" "${ignore}")
 
-  if(NOT BUILD_SHARED_LIBS)
-    message(
-      FATAL_ERROR
-        "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF."
-        "The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries."
-        "If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF."
-    )
-  endif()
-
-  # ############################################################################
+# Wrap version for gtsam_unstable
+if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
   # Generate, build and install toolbox
   set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
   if(NOT BUILD_SHARED_LIBS)
@@ -55,70 +74,57 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX)
   endif()
 
   # Wrap
-  wrap_and_install_library(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" ""
-                           "${mexFlags}")
+  matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" ""
+              "${mexFlags}")
+endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
 
-  # Wrap version for gtsam_unstable
-  if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
-    # Generate, build and install toolbox
-    set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
-    if(NOT BUILD_SHARED_LIBS)
-      list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
+# Record the root dir for gtsam - needed during external builds, e.g., ROS
+set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
+message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
+
+# Tests message(STATUS "Installing Matlab Toolbox")
+install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
+install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/"
+                       "README-gtsam-toolbox.txt")
+
+# Examples message(STATUS "Installing Matlab Toolbox Examples") Matlab files:
+# *.m and *.fig
+# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples"
+# "*.m;*.fig")
+
+# Utilities message(STATUS "Installing Matlab Toolbox Utilities")
+# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m")
+
+# message(STATUS "Installing Matlab Toolbox Example Data") Data files: *.graph,
+# *.mat, and *.txt
+file(GLOB matlab_examples_data_graph
+     "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
+file(GLOB matlab_examples_data_mat
+     "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
+file(GLOB matlab_examples_data_txt
+     "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
+set(matlab_examples_data
+    ${matlab_examples_data_graph} ${matlab_examples_data_mat}
+    ${matlab_examples_data_txt})
+if(GTSAM_BUILD_TYPE_POSTFIXES)
+  foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
+    string(TOUPPER "${build_type}" build_type_upper)
+    if(${build_type_upper} STREQUAL "RELEASE")
+      set(build_type_tag "") # Don't create release mode tag on installed
+      # directory
+    else()
+      set(build_type_tag "${build_type}")
     endif()
-
-    # Wrap
-    wrap_and_install_library(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" "" "${mexFlags}")
-  endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
-
-  # Record the root dir for gtsam - needed during external builds, e.g., ROS
-  set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
-  message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
-
-  # Tests message(STATUS "Installing Matlab Toolbox")
-  install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
-  install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/"
-                         "README-gtsam-toolbox.txt")
-
-  # Examples message(STATUS "Installing Matlab Toolbox Examples") Matlab files:
-  # *.m and *.fig
-  # install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples"
-  # "*.m;*.fig")
-
-  # Utilities message(STATUS "Installing Matlab Toolbox Utilities")
-  # install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m")
-
-  # message(STATUS "Installing Matlab Toolbox Example Data") Data files:
-  # *.graph, *.mat, and *.txt
-  file(GLOB matlab_examples_data_graph
-       "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
-  file(GLOB matlab_examples_data_mat
-       "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
-  file(GLOB matlab_examples_data_txt
-       "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
-  set(matlab_examples_data
-      ${matlab_examples_data_graph} ${matlab_examples_data_mat}
-      ${matlab_examples_data_txt})
-  if(GTSAM_BUILD_TYPE_POSTFIXES)
-    foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
-      string(TOUPPER "${build_type}" build_type_upper)
-      if(${build_type_upper} STREQUAL "RELEASE")
-        set(build_type_tag "") # Don't create release mode tag on installed
-                               # directory
-      else()
-        set(build_type_tag "${build_type}")
-      endif()
-      # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if
-      # there is one
-      get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
-      get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
-      install(
-        FILES ${matlab_examples_data}
-        DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data"
-        CONFIGURATIONS "${build_type}")
-    endforeach()
-  else()
-    install(FILES ${matlab_examples_data}
-            DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
-  endif()
-
-endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
+    # Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if
+    # there is one
+    get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
+    get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
+    install(
+      FILES ${matlab_examples_data}
+      DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data"
+      CONFIGURATIONS "${build_type}")
+  endforeach()
+else()
+  install(FILES ${matlab_examples_data}
+          DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
+endif()