Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
Alex Cunningham
parent
1241bf383a
commit
ad3b431c4d
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@ -115,17 +115,17 @@ link_directories(${Boost_LIBRARY_DIRS})
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# Build CppUnitLite
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add_subdirectory(CppUnitLite)
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# Build wrap
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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endif(GTSAM_BUILD_WRAP)
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# Build GTSAM library
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add_subdirectory(gtsam)
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# Build Tests
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add_subdirectory(tests)
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# Build wrap
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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endif(GTSAM_BUILD_WRAP)
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# Build examples
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if (GTSAM_BUILD_EXAMPLES)
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add_subdirectory(examples)
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@ -30,3 +30,21 @@ foreach(example_src ${example_srcs} )
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endforeach(example_src)
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# Install matlab components
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if (GTSAM_BUILD_WRAP)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Examples
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if (GTSAM_INSTALL_MATLAB_EXAMPLES)
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message(STATUS "Installing Matlab Toolbox Examples")
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file(GLOB matlab_examples "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.m")
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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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endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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endif ()
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@ -114,3 +114,24 @@ if (GTSAM_BUILD_SHARED_LIBRARY)
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install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
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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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# 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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else()
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set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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endif()
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# Generate, build and install toolbox
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -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${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam")
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# Macro to handle details of setting up targets
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wrap_library(gtsam "${mexFlags}" "../")
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endif ()
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@ -70,15 +70,6 @@ if (GTSAM_BUILD_WRAP)
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# Set up codegen
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include(GtsamMatlabWrap)
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# Wrap codegen
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#usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags]
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# mexExecutable : command to execute mex if on path, use 'mex'
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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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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@ -89,48 +80,10 @@ if (GTSAM_BUILD_WRAP)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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endif()
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# Generate, build and install toolbox
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set(mexFlags "-I${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 -L${MEX_LIB_ROOT}/gtsam_unstable -L${MEX_LIB_ROOT}/gtsam -lgtsam -lgtsam_unstable")
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if(MSVC OR CYGWIN OR WINGW)
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set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
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endif()
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
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set(moduleName gtsam_unstable)
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find_mexextension()
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# Code generation command
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add_custom_target(wrap_gtsam_unstable ALL COMMAND
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${CMAKE_BINARY_DIR}/wrap/wrap
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${MEX_COMMAND}
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${GTSAM_MEX_BIN_EXTENSION}
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${CMAKE_CURRENT_SOURCE_DIR}
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${moduleName}
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${toolbox_path}
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"${mexFlags}"
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DEPENDS wrap)
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# Build command
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if (GTSAM_BUILD_MEX_BIN)
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# Actually compile the mex files when building the library
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if (GTSAM_INSTALL_MEX_BIN)
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add_custom_target(wrap_gtsam_unstable_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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else()
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add_custom_target(wrap_gtsam_unstable_build
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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endif()
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endif ()
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Macro to handle details of setting up targets
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wrap_library(gtsam_unstable "${mexFlags}" "./")
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endif(GTSAM_BUILD_WRAP)
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@ -40,3 +40,15 @@ if (GTSAM_BUILD_TIMING)
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"${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists
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${is_test})
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endif (GTSAM_BUILD_TIMING)
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# Install matlab components
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if (GTSAM_BUILD_WRAP)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Tests
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if (GTSAM_INSTALL_MATLAB_TESTS)
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/tests/matlab/*.m")
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install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
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endif ()
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endif ()
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endif ()
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@ -22,96 +22,4 @@ if (GTSAM_BUILD_TESTS)
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gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "")
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endif(GTSAM_BUILD_TESTS)
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# Wrap codegen
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#usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags]
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# mexExecutable : command to execute mex if on path, use 'mex'
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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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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else()
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set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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endif()
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set(mexFlags "-I${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${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam")
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if(MSVC OR CYGWIN OR WINGW)
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set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'")
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endif()
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
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set(moduleName gtsam)
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include(GtsamMatlabWrap)
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find_mexextension()
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# get binary path for wrap executable to allow for different build configurations (e.g., ROS)
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if (NOT EXECUTABLE_OUTPUT_PATH)
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set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR})
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endif()
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# Code generation command
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get_property(WRAP_EXE TARGET wrap PROPERTY LOCATION)
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add_custom_target(wrap_gtsam ALL COMMAND
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${WRAP_EXE}
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${MEX_COMMAND}
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${GTSAM_MEX_BIN_EXTENSION}
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${CMAKE_CURRENT_SOURCE_DIR}/../
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${moduleName}
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${toolbox_path}
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"${mexFlags}"
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DEPENDS wrap)
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# Build command
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if (GTSAM_BUILD_MEX_BIN)
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# Actually compile the mex files when building the library
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# TODO: pass correct make flags from parent process
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message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if (GTSAM_INSTALL_MEX_BIN)
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add_custom_target(wrap_gtsam_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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else()
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add_custom_target(wrap_gtsam_build
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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endif()
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endif ()
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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# Note that we copy the entire contents of the folder blindly - this is because
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# the generated files won't exist at configuration time
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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# Examples
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if (GTSAM_INSTALL_MATLAB_EXAMPLES)
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message(STATUS "Installing Matlab Toolbox Examples")
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file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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# Data files: *.graph and *.txt
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file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_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 ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
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endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
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# Tests
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if (GTSAM_INSTALL_MATLAB_TESTS)
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
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install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
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endif (GTSAM_INSTALL_MATLAB_TESTS)
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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