experimental cmake support for linux
Yong-Dian Jian
parent
fe126f2e42
commit
85ff7853eb
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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PROJECT (gtsam)
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if (NOT CMAKE_INSTALL_PREFIX)
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set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR} CACHE INTERNAL "" FORCE)
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endif()
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set(CMAKE_CXX_FLAGS "-O2 -g -Wall -march=core2 -msse2 -DNDEBUG -DGT_USE_CBLAS -DGT_USE_LAPACK")
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INCLUDE_DIRECTORIES ("${CMAKE_SOURCE_DIR}")
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set(BOOST_ROOT ${BOOST_ROOT} CACHE PATH "The boost root path")
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INCLUDE_DIRECTORIES ("${BOOST_ROOT}")
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LINK_DIRECTORIES ("${BOOST_ROOT}/stage/lib")
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set(CCOLAMD_ROOT ${CCOLAMD_ROOT} CACHE PATH "The ccolamd root path")
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INCLUDE_DIRECTORIES ("${CCOLAMD_ROOT}")
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LINK_DIRECTORIES ("${CCOLAMD_ROOT}")
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set(libs_support ${libs_support} ccolamd)
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set(USE_GOTOBLAS2 ${USE_GOTOBLAS2} CACHE BOOL "USE GotoBlas2 or not")
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if (USE_GOTOBLAS2)
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set(GOTOBLAS2_ROOT ${GOTOBLAS2_ROOT} CACHE PATH "The gotoblas2 root path")
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INCLUDE_DIRECTORIES ("${GOTOBLAS2_ROOT}")
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set(libs_support ${libs_support} goto2)
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else ()
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set(libs_support ${libs_support} cblas lapack atlas)
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endif ()
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set(BUILD_EXAMPLES TRUE CACHE BOOL "Turn on the flag to build examples")
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set(BUILD_TESTS TRUE CACHE BOOL "Turn on the flag to build tests")
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set(BUILD_TIMINGS TRUE CACHE BOOL "Turn on the flag to build timings")
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enable_testing()
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add_subdirectory(CppUnitLite)
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add_subdirectory(gtsam)
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set(libs_gtsam base geometry inference linear nonlinear slam)
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add_subdirectory(examples)
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add_subdirectory(tests)
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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SET(lib_target "CppUnitLite")
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FILE(GLOB cppunitlite_src "./*.cpp")
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############################# COMPILE LIBRARY
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ADD_LIBRARY(${lib_target} STATIC ${cppunitlite_src})
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#TARGET_LINK_LIBRARIES(${lib_target})
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############################# INSTALL
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#message(STATUS "install ${lib_target} to ${CMAKE_SOURCE_DIR}/lib")
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#install(TARGETS ${lib_target}
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# ARCHIVE DESTINATION lib COMPONENT dev
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# LIBRARY DESTINATION lib COMPONENT dev)
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set(libs_support ${libs_support} CppUnitLite ${libs_gtsam})
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if (BUILD_EXAMPLES)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};SimpleRotation")
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set(PROGRAMS "${PROGRAMS};PlanarSLAMExample_easy")
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set(PROGRAMS "${PROGRAMS};PlanarSLAMSelfContained_advanced")
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set(PROGRAMS "${PROGRAMS};Pose2SLAMExample_easy")
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set(PROGRAMS "${PROGRAMS};Pose2SLAMExample_advanced")
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# set(PROGRAMS "${PROGRAMS};Pose2SLAMwSPCG_easy")
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# set(PROGRAMS "${PROGRAMS};Pose2SLAMwSPCG_advanced")
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foreach(program ${PROGRAMS})
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add_executable(${program} "${program}.cpp")
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target_link_libraries(${program} ${libs_support})
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endforeach(program)
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endif ()
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@ -0,0 +1,12 @@
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set(lib_target "gtsam")
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add_subdirectory(base)
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add_subdirectory(geometry)
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add_subdirectory(inference)
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add_subdirectory(linear)
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add_subdirectory(nonlinear)
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add_subdirectory(slam)
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#add_library(${lib_target} base geometry inference linear nonlinear slam)
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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SET(lib_target "base")
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FILE(GLOB base_src "./*.cpp")
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############################# COMPILE LIBRARY
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ADD_LIBRARY(${lib_target} STATIC ${base_src})
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#TARGET_LINK_LIBRARIES(${lib_target})
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############################# INSTALL
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#message(STATUS "install ${lib_target} to ${CMAKE_SOURCE_DIR}/lib")
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#install(TARGETS ${lib_target}
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# ARCHIVE DESTINATION lib COMPONENT dev
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#LIBRARY DESTINATION lib COMPONENT dev)
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# TESTS
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set(libs_support ${libs_support} CppUnitLite)
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if (BUILD_TESTS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};testBTree")
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set(PROGRAMS "${PROGRAMS};testCholesky")
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set(PROGRAMS "${PROGRAMS};testDebug")
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set(PROGRAMS "${PROGRAMS};testDenseQRUtil")
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set(PROGRAMS "${PROGRAMS};testDSFVector")
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set(PROGRAMS "${PROGRAMS};testFixedVector")
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set(PROGRAMS "${PROGRAMS};testLieScalar")
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set(PROGRAMS "${PROGRAMS};testLieVector")
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set(PROGRAMS "${PROGRAMS};testMatrix")
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set(PROGRAMS "${PROGRAMS};testNumericalDerivative")
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set(PROGRAMS "${PROGRAMS};testTestableAssertions")
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set(PROGRAMS "${PROGRAMS};testVector")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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add_test(${program} ${program})
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endforeach(program)
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endif ()
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};timeMatrix")
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set(PROGRAMS "${PROGRAMS};timeublas")
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set(PROGRAMS "${PROGRAMS};timeTest")
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set(PROGRAMS "${PROGRAMS};timeVirtual")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set (lib_target "geometry")
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file (GLOB geometry_src "./*.cpp")
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############################# COMPILE LIBRARY
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add_library (${lib_target} STATIC ${geometry_src})
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target_link_libraries (${lib_target} base)
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# TESTS
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set(libs_support ${libs_support} CppUnitLite)
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if (BUILD_TESTS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};testCal3Bundler")
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set(PROGRAMS "${PROGRAMS};testCal3DS2")
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set(PROGRAMS "${PROGRAMS};testCal3_S2")
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set(PROGRAMS "${PROGRAMS};testCalibratedCamera")
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set(PROGRAMS "${PROGRAMS};testFundamental")
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set(PROGRAMS "${PROGRAMS};testHomography2")
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set(PROGRAMS "${PROGRAMS};testPoint2")
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set(PROGRAMS "${PROGRAMS};testPoint3")
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set(PROGRAMS "${PROGRAMS};testRot2")
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set(PROGRAMS "${PROGRAMS};testRot3")
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set(PROGRAMS "${PROGRAMS};testSimpleCamera")
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set(PROGRAMS "${PROGRAMS};testStereoCamera")
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set(PROGRAMS "${PROGRAMS};testTensors")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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add_test(${program} ${program})
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endforeach(program)
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endif ()
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};timeCalibratedCamera")
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set(PROGRAMS "${PROGRAMS};timeRot3")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set (lib_target "inference")
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file (GLOB inference_src "./*.cpp")
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############################# COMPILE LIBRARY
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add_library (${lib_target} STATIC ${inference_src})
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target_link_libraries (${lib_target} base geometry ccolamd)
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# TESTS
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set(libs_support ${libs_support} CppUnitLite)
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if (BUILD_TESTS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};testBayesTree")
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# set(PROGRAMS "${PROGRAMS};testBinaryBayesNet")
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set(PROGRAMS "${PROGRAMS};testClusterTree")
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set(PROGRAMS "${PROGRAMS};testConditional")
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set(PROGRAMS "${PROGRAMS};testEliminationTree")
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set(PROGRAMS "${PROGRAMS};testFactorGraph")
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set(PROGRAMS "${PROGRAMS};testInference")
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set(PROGRAMS "${PROGRAMS};testISAM")
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set(PROGRAMS "${PROGRAMS};testJunctionTree")
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set(PROGRAMS "${PROGRAMS};testSymbolicBayesNet")
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set(PROGRAMS "${PROGRAMS};testSymbolicFactor")
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set(PROGRAMS "${PROGRAMS};testSymbolicFactorGraph")
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set(PROGRAMS "${PROGRAMS};testVariableIndex")
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set(PROGRAMS "${PROGRAMS};testVariableSlots")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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add_test(${program} ${program})
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endforeach(program)
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endif ()
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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# set(PROGRAMS "${PROGRAMS};timeSymbolMaps")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set (lib_target "linear")
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#file (GLOB linear_src "./*.cpp")
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set (linear_src NoiseModel.cpp Errors.cpp Sampler.cpp GaussianSequentialSolver.cpp GaussianMultifrontalSolver.cpp
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JacobianFactor.cpp HessianFactor.cpp GaussianFactor.cpp GaussianFactorGraph.cpp
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GaussianJunctionTree.cpp GaussianConditional.cpp GaussianBayesNet.cpp GaussianISAM.cpp)
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############################# COMPILE LIBRARY
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add_library (${lib_target} STATIC ${linear_src})
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target_link_libraries(${lib_target} base inference ccolamd)
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# TESTS
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set(libs_support ${libs_support} CppUnitLite)
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if (BUILD_TESTS)
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set(PROGRAMS "")
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# set(PROGRAMS "${PROGRAMS};testBayesNetPreconditioner")
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set(PROGRAMS "${PROGRAMS};testErrors")
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set(PROGRAMS "${PROGRAMS};testGaussianConditional")
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set(PROGRAMS "${PROGRAMS};testGaussianFactor")
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set(PROGRAMS "${PROGRAMS};testGaussianFactorGraph")
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set(PROGRAMS "${PROGRAMS};testGaussianJunctionTree")
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set(PROGRAMS "${PROGRAMS};testHessianFactor")
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set(PROGRAMS "${PROGRAMS};testNoiseModel")
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set(PROGRAMS "${PROGRAMS};testSampler")
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# set(PROGRAMS "${PROGRAMS};testVectorBTree")
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# set(PROGRAMS "${PROGRAMS};testVectorMap")
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set(PROGRAMS "${PROGRAMS};testVectorValues")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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add_test(${program} ${program})
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endforeach(program)
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endif ()
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};timeFactorOverhead")
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set(PROGRAMS "${PROGRAMS};timeGaussianFactor")
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set(PROGRAMS "${PROGRAMS};timeSLAMlike")
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# set(PROGRAMS "${PROGRAMS};timeVectorValues")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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@ -0,0 +1,32 @@
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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set (lib_target "nonlinear")
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file (GLOB nonlinear_src "./*.cpp")
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############################# COMPILE LIBRARY
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add_library (${lib_target} STATIC ${nonlinear_src})
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# TESTS
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set(libs_support ${libs_support} CppUnitLite base)
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if (BUILD_TESTS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};testKey")
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set(PROGRAMS "${PROGRAMS};testLieValues")
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set(PROGRAMS "${PROGRAMS};testOrdering")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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add_test(${program} ${program})
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endforeach(program)
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endif ()
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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foreach(program ${PROGRAMS})
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add_executable(${program} "tests/${program}.cpp")
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target_link_libraries(${program} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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CMAKE_MINIMUM_REQUIRED (VERSION 2.6)
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# TESTS
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set(libs_support ${libs_support} CppUnitLite ${libs_gtsam})
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if (BUILD_TESTS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};testGaussianBayesNet")
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set(PROGRAMS "${PROGRAMS};testGaussianFactor")
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set(PROGRAMS "${PROGRAMS};testGaussianFactorGraph")
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set(PROGRAMS "${PROGRAMS};testGaussianISAM")
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set(PROGRAMS "${PROGRAMS};testGraph")
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set(PROGRAMS "${PROGRAMS};testInference")
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set(PROGRAMS "${PROGRAMS};testGaussianJunctionTree")
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set(PROGRAMS "${PROGRAMS};testNonlinearEquality")
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set(PROGRAMS "${PROGRAMS};testNonlinearFactor")
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set(PROGRAMS "${PROGRAMS};testNonlinearFactorGraph")
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set(PROGRAMS "${PROGRAMS};testNonlinearOptimizer")
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set(PROGRAMS "${PROGRAMS};testSymbolicBayesNet")
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set(PROGRAMS "${PROGRAMS};testSymbolicFactorGraph")
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set(PROGRAMS "${PROGRAMS};testTupleValues")
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set(PROGRAMS "${PROGRAMS};testNonlinearISAM")
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foreach(program ${PROGRAMS})
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set (program_exe "${program}-global")
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add_executable(${program_exe} "${program}.cpp")
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target_link_libraries(${program_exe} ${lib_target} ${libs_support})
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add_test(${program_exe} ${program_exe})
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endforeach(program)
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endif ()
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#check_PROGRAMS += testSerialization
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if (BUILD_TIMINGS)
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set(PROGRAMS "")
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set(PROGRAMS "${PROGRAMS};timeGaussianFactorGraph")
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set(PROGRAMS "${PROGRAMS};timeSequentialOnDataset")
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set(PROGRAMS "${PROGRAMS};timeMultifrontalOnDataset")
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foreach(program ${PROGRAMS})
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set (program_exe "${program}-global")
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add_executable(${program_exe} "${program}.cpp")
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target_link_libraries(${program_exe} ${lib_target} ${libs_support})
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endforeach(program)
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endif ()
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