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							|  | @ -7,21 +7,49 @@ Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002, 2004, 2005, | |||
| This file is free documentation; the Free Software Foundation gives | ||||
| unlimited permission to copy, distribute and modify it. | ||||
| 
 | ||||
| Third-Party Library Installation | ||||
| Important Notes Specific to GTSAM | ||||
| ================== | ||||
| 
 | ||||
| GTSAM uses CCOLAMD to get a good elimination ordering for the linear solving. | ||||
| CCOLAMD can be downloaded from Tim Davis's website: | ||||
| http://www.cise.ufl.edu/research/sparse/ccolamd/ | ||||
| The package should be installed to the default C++ search path. To link properly | ||||
| with the installed library, pass the following argument to ./configure (described | ||||
| in the next section): | ||||
| --with-ccolamd-lib=YOURPATH_TO_LIBCCOLAMD | ||||
| 1) | ||||
| GTSAM uses CCOLAMD to find good variable elimination orders.  You can download | ||||
| it from Tim Davis's website:  http://www.cise.ufl.edu/research/sparse/ccolamd/ | ||||
| Then, pass the following arguments (paths are just examples) to ./configure: | ||||
| --with-ccolamd-inc=/usr/local/include | ||||
| --with-ccolamd-lib=/usr/local/lib | ||||
| 
 | ||||
| For interneal usage of people **at Georgia Tech**, check out the "CCOLAMD" project | ||||
| from the SVN server, and run "make install". The library will be installed | ||||
| in $HOME/lib/ and $HOME/include/CCOLAMD by default. No additional configure argument | ||||
| is needed for configure in this case. | ||||
| 2) | ||||
| GTSAM makes extensive use of debug assertions, even for checking input of | ||||
| the functions you will call.  These assertions are disabled when NDEBUG is | ||||
| defined.  Thus, we strongly recommend compiling GTSAM and your own code without | ||||
| this symbol during debugging. | ||||
| 
 | ||||
| After debugging, GTSAM will run much faster when compiled with NDEBUG defined, | ||||
| so that debug checks are disabled. | ||||
| 
 | ||||
| Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks | ||||
| and safe containers in the standard C++ library.  We suggest testing your code | ||||
| with this symbol defined, as it will make problems much easier to find. | ||||
| NOTE:  The native Snow Leopard g++ compiler/library contains a bug that makes | ||||
| it impossible to use this symbol.  The MacPorts g++ compilers work fine with it | ||||
| though. | ||||
| 
 | ||||
| 3) | ||||
| Putting the above together, here are some sample ./configure commands for | ||||
| compiling gtsam: | ||||
| 
 | ||||
| For Debugging (native Snow Leopard g++ compiler): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| For Debugging (Linux or MacPorts g++ compilers): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| For Performance: | ||||
| ../configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" --enable-blas \ | ||||
|     --enable-lapack --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| 
 | ||||
| Basic Installation | ||||
|  |  | |||
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