diff --git a/.cproject b/.cproject
index 42416eeb8..9b476b986 100644
--- a/.cproject
+++ b/.cproject
@@ -147,8 +147,16 @@
-
-
+
+
+
+
+
+
+
+
+
+
@@ -605,6 +613,14 @@
true
true
+
+ make
+ -j6 -j8
+ testWhiteNoiseFactor.run
+ true
+ true
+ true
+
make
-j5
@@ -613,54 +629,6 @@
true
true
-
- make
- -j5
- testPlanarSLAM.run
- true
- true
- true
-
-
- make
- -j5
- testPose2SLAM.run
- true
- true
- true
-
-
- make
- -j5
- testPose3SLAM.run
- true
- true
- true
-
-
- make
- -j5
- testSimulated2D.run
- true
- true
- true
-
-
- make
- -j5
- testSimulated2DOriented.run
- true
- true
- true
-
-
- make
- -j5
- testVisualSLAM.run
- true
- true
- true
-
make
-j5
@@ -669,14 +637,6 @@
true
true
-
- make
- -j5
- testSerializationSLAM.run
- true
- true
- true
-
make
-j5
@@ -685,6 +645,22 @@
true
true
+
+ make
+ -j6 -j8
+ testAntiFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j6 -j8
+ testBetweenFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -821,6 +797,38 @@
true
true
+
+ make
+ -j5
+ testAHRS.run
+ true
+ true
+ true
+
+
+ make
+ -j8
+ testImuFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testMultiProjectionFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testSmartProjectionFactor.run
+ true
+ true
+ true
+
make
-j5
@@ -909,6 +917,14 @@
true
true
+
+ make
+ -j5
+ testTriangulation.run
+ true
+ true
+ true
+
make
-j2
@@ -1745,6 +1761,14 @@
true
true
+
+ make
+ -j5
+ testMatrix.run
+ true
+ true
+ true
+
make
-j5
@@ -1913,6 +1937,22 @@
true
true
+
+ make
+ -j5
+ RangeISAMExample_plaza2.run
+ true
+ true
+ true
+
+
+ make
+ -j4
+ testImuFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -2404,6 +2444,30 @@
true
true
+
+ make
+ -j6 -j8
+ gtsam_unstable-shared
+ true
+ true
+ true
+
+
+ make
+ -j6 -j8
+ gtsam_unstable-static
+ true
+ true
+ true
+
+
+ make
+ -j6 -j8
+ check.nonlinear_unstable
+ true
+ true
+ true
+
make
-j5
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 236ad10ef..99c45f286 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 2.6)
# Set the version number for the library
set (GTSAM_VERSION_MAJOR 2)
set (GTSAM_VERSION_MINOR 3)
-set (GTSAM_VERSION_PATCH 0)
+set (GTSAM_VERSION_PATCH 1)
###############################################################################
@@ -53,11 +53,13 @@ if(GTSAM_UNSTABLE_AVAILABLE)
endif()
option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" OFF)
-option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
+option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
if(NOT MSVC)
option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
endif()
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
+option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
+option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
@@ -99,11 +101,11 @@ endif()
# Find boost
# If using Boost shared libs, set up auto linking for shared libs
-if(NOT Boost_USE_STATIC_LIBS)
+if(MSVC AND NOT Boost_USE_STATIC_LIBS)
add_definitions(-DBOOST_ALL_DYN_LINK)
endif()
-find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex timer chrono)
+find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
# Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
@@ -113,13 +115,13 @@ endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
-set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
+set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
if (GTSAM_DISABLE_NEW_TIMERS)
message("WARNING: GTSAM timing instrumentation manually disabled")
add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)
else()
if(Boost_TIMER_LIBRARY)
- list(APPEND GTSAM_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
+ list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
else()
message("WARNING: Boost older than 1.48 was found, GTSAM timing instrumentation will use the older, less accurate, Boost timer library.")
endif()
@@ -157,21 +159,28 @@ install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINAT
###############################################################################
# Global compile options
-# General build settings
+# Include boost - use 'BEFORE' so that a specific boost specified to CMake
+# takes precedence over a system-installed one.
+include_directories(BEFORE ${Boost_INCLUDE_DIR})
+
+# Add includes for source directories 'BEFORE' boost and any system include
+# paths so that the compiler uses GTSAM headers in our source directory instead
+# of any previously installed GTSAM headers.
include_directories(BEFORE
gtsam/3rdparty/UFconfig
gtsam/3rdparty/CCOLAMD/Include
${CMAKE_SOURCE_DIR}
${CMAKE_BINARY_DIR} # So we can include generated config header files
- CppUnitLite
- ${Boost_INCLUDE_DIR})
-link_directories(${Boost_LIBRARY_DIRS})
+ CppUnitLite)
if(MSVC)
add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
add_definitions(/wd4251 /wd4275 /wd4251) # Disable non-DLL-exported base class warnings
endif()
+if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
+ add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
+endif()
###############################################################################
# Add components
@@ -266,9 +275,9 @@ print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests
if (DOXYGEN_FOUND)
print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
endif()
+print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
+print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
if(NOT MSVC)
- print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
- print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
endif()
print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ")
@@ -287,7 +296,9 @@ message(STATUS " CPack Source Generator
message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
-print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3")
+print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
+print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
+print_config_flag(${GTSAM_POSE3_EXPMAP} "Using full expmap as defaul retract for Pose3 ")
message(STATUS "MATLAB toolbox flags ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h
index 52b79f65c..3ea6a6318 100644
--- a/CppUnitLite/Test.h
+++ b/CppUnitLite/Test.h
@@ -60,7 +60,7 @@ protected:
/**
* Normal test will wrap execution in a try/catch block to catch exceptions more effectively
*/
-#define TEST(testName, testGroup)\
+#define TEST(testGroup, testName)\
class testGroup##testName##Test : public Test \
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \
virtual ~testGroup##testName##Test () {};\
@@ -72,7 +72,7 @@ protected:
* For debugging only: use TEST_UNSAFE to allow debuggers to have access to exceptions, as this
* will not wrap execution with a try/catch block
*/
-#define TEST_UNSAFE(testName, testGroup)\
+#define TEST_UNSAFE(testGroup, testName)\
class testGroup##testName##Test : public Test \
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, false) {} \
virtual ~testGroup##testName##Test () {};\
@@ -130,7 +130,7 @@ boost::lexical_cast(actualTemp))); return; } }
#define DOUBLES_EQUAL(expected,actual,threshold)\
{ double actualTemp = actual; \
double expectedTemp = expected; \
- if (fabs ((expectedTemp)-(actualTemp)) > threshold) \
+ if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \
{ result_.addFailure (Failure (name_, __FILE__, __LINE__, \
boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); return; } }
@@ -150,7 +150,7 @@ boost::lexical_cast(actualTemp))); } }
#define EXPECT_DOUBLES_EQUAL(expected,actual,threshold)\
{ double actualTemp = actual; \
double expectedTemp = expected; \
- if (fabs ((expectedTemp)-(actualTemp)) > threshold) \
+ if (!std::isfinite(actualTemp) || !std::isfinite(expectedTemp) || fabs ((expectedTemp)-(actualTemp)) > threshold) \
{ result_.addFailure (Failure (name_, __FILE__, __LINE__, \
boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); } }
diff --git a/README b/README
index d60faea45..a20a683a0 100644
--- a/README
+++ b/README
@@ -37,7 +37,7 @@ of licensing as follows:
- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
- http://www.cise.ufl.edu/research/sparse
- Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
- - Eigen 3.1: General C++ matrix and linear algebra library
+ - Eigen 3.2: General C++ matrix and linear algebra library
- Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README (some code that is 3rd-party to
Eigen is BSD and LGPL)
@@ -63,7 +63,7 @@ Tested compilers
- MSVC 2010, 2012
Tested systems:
- - Ubuntu 11.04, 11.10, 12.04
+ - Ubuntu 11.04, 11.10, 12.04, 12.10, 13.04
- MacOS 10.6, 10.7
- Windows 7
diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
new file mode 100644
index 000000000..7aef75f53
--- /dev/null
+++ b/cmake/Config.cmake.in
@@ -0,0 +1,18 @@
+# - Config file for @CMAKE_PROJECT_NAME@
+# It defines the following variables
+# @PACKAGE_NAME@_INCLUDE_DIR - include directories for @CMAKE_PROJECT_NAME@
+
+# Compute paths
+get_filename_component(OUR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+if(EXISTS "${OUR_CMAKE_DIR}/CMakeCache.txt")
+ # In build tree
+ set(@PACKAGE_NAME@_INCLUDE_DIR @CMAKE_SOURCE_DIR@ CACHE PATH "@PACKAGE_NAME@ include directory")
+else()
+ # Find installed library
+ set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory")
+endif()
+
+# Load exports
+include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)
+
+message(STATUS "GTSAM include directory: ${@CMAKE_PROJECT_NAME@_INCLUDE_DIR}")
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
new file mode 100644
index 000000000..9c546a05d
--- /dev/null
+++ b/cmake/FindEigen3.cmake
@@ -0,0 +1,81 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+# find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+# EIGEN3_FOUND - system has eigen lib with correct version
+# EIGEN3_INCLUDE_DIR - the eigen include directory
+# EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent,
+# Copyright (c) 2008, 2009 Gael Guennebaud,
+# Copyright (c) 2009 Benoit Jacob
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+ if(NOT Eigen3_FIND_VERSION_MAJOR)
+ set(Eigen3_FIND_VERSION_MAJOR 2)
+ endif(NOT Eigen3_FIND_VERSION_MAJOR)
+ if(NOT Eigen3_FIND_VERSION_MINOR)
+ set(Eigen3_FIND_VERSION_MINOR 91)
+ endif(NOT Eigen3_FIND_VERSION_MINOR)
+ if(NOT Eigen3_FIND_VERSION_PATCH)
+ set(Eigen3_FIND_VERSION_PATCH 0)
+ endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+ set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+ file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+ string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+ set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+ set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+ set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+ set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+ if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+ set(EIGEN3_VERSION_OK FALSE)
+ else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+ set(EIGEN3_VERSION_OK TRUE)
+ endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+ if(NOT EIGEN3_VERSION_OK)
+
+ message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+ "but at least version ${Eigen3_FIND_VERSION} is required")
+ endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+ # in cache already
+ _eigen3_check_version()
+ set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+ find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+ PATHS
+ ${CMAKE_INSTALL_PREFIX}/include
+ ${KDE4_INCLUDE_DIR}
+ PATH_SUFFIXES eigen3 eigen
+ )
+
+ if(EIGEN3_INCLUDE_DIR)
+ _eigen3_check_version()
+ endif(EIGEN3_INCLUDE_DIR)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+ mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+
diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
new file mode 100644
index 000000000..92ef3e98a
--- /dev/null
+++ b/cmake/FindTBB.cmake
@@ -0,0 +1,287 @@
+# Locate Intel Threading Building Blocks include paths and libraries
+# FindTBB.cmake can be found at https://code.google.com/p/findtbb/
+# Written by Hannes Hofmann
+# Improvements by Gino van den Bergen ,
+# Florian Uhlig ,
+# Jiri Marsik
+
+# The MIT License
+#
+# Copyright (c) 2011 Hannes Hofmann
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+# GvdB: This module uses the environment variable TBB_ARCH_PLATFORM which defines architecture and compiler.
+# e.g. "ia32/vc8" or "em64t/cc4.1.0_libc2.4_kernel2.6.16.21"
+# TBB_ARCH_PLATFORM is set by the build script tbbvars[.bat|.sh|.csh], which can be found
+# in the TBB installation directory (TBB_INSTALL_DIR).
+#
+# GvdB: Mac OS X distribution places libraries directly in lib directory.
+#
+# For backwards compatibility, you may explicitely set the CMake variables TBB_ARCHITECTURE and TBB_COMPILER.
+# TBB_ARCHITECTURE [ ia32 | em64t | itanium ]
+# which architecture to use
+# TBB_COMPILER e.g. vc9 or cc3.2.3_libc2.3.2_kernel2.4.21 or cc4.0.1_os10.4.9
+# which compiler to use (detected automatically on Windows)
+
+# This module respects
+# TBB_INSTALL_DIR or $ENV{TBB21_INSTALL_DIR} or $ENV{TBB_INSTALL_DIR}
+
+# This module defines
+# TBB_INCLUDE_DIRS, where to find task_scheduler_init.h, etc.
+# TBB_LIBRARY_DIRS, where to find libtbb, libtbbmalloc
+# TBB_DEBUG_LIBRARY_DIRS, where to find libtbb_debug, libtbbmalloc_debug
+# TBB_INSTALL_DIR, the base TBB install directory
+# TBB_LIBRARIES, the libraries to link against to use TBB.
+# TBB_DEBUG_LIBRARIES, the libraries to link against to use TBB with debug symbols.
+# TBB_FOUND, If false, don't try to use TBB.
+# TBB_INTERFACE_VERSION, as defined in tbb/tbb_stddef.h
+
+
+if (WIN32)
+ # has em64t/vc8 em64t/vc9
+ # has ia32/vc7.1 ia32/vc8 ia32/vc9
+ set(_TBB_DEFAULT_INSTALL_DIR "C:/Program Files/Intel/TBB")
+ set(_TBB_LIB_NAME "tbb")
+ set(_TBB_LIB_MALLOC_NAME "${_TBB_LIB_NAME}malloc")
+ set(_TBB_LIB_DEBUG_NAME "${_TBB_LIB_NAME}_debug")
+ set(_TBB_LIB_MALLOC_DEBUG_NAME "${_TBB_LIB_MALLOC_NAME}_debug")
+ if (MSVC71)
+ set (_TBB_COMPILER "vc7.1")
+ endif(MSVC71)
+ if (MSVC80)
+ set(_TBB_COMPILER "vc8")
+ endif(MSVC80)
+ if (MSVC90)
+ set(_TBB_COMPILER "vc9")
+ endif(MSVC90)
+ if(MSVC10)
+ set(_TBB_COMPILER "vc10")
+ endif(MSVC10)
+ if(MSVC11)
+ set(_TBB_COMPILER "vc11")
+ endif(MSVC11)
+ # Todo: add other Windows compilers such as ICL.
+ set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
+endif (WIN32)
+
+if (UNIX)
+ if (APPLE)
+ # MAC
+ set(_TBB_DEFAULT_INSTALL_DIR "/Library/Frameworks/Intel_TBB.framework/Versions")
+ # libs: libtbb.dylib, libtbbmalloc.dylib, *_debug
+ set(_TBB_LIB_NAME "tbb")
+ set(_TBB_LIB_MALLOC_NAME "${_TBB_LIB_NAME}malloc")
+ set(_TBB_LIB_DEBUG_NAME "${_TBB_LIB_NAME}_debug")
+ set(_TBB_LIB_MALLOC_DEBUG_NAME "${_TBB_LIB_MALLOC_NAME}_debug")
+ # default flavor on apple: ia32/cc4.0.1_os10.4.9
+ # Jiri: There is no reason to presume there is only one flavor and
+ # that user's setting of variables should be ignored.
+ if(NOT TBB_COMPILER)
+ set(_TBB_COMPILER "cc4.0.1_os10.4.9")
+ elseif (NOT TBB_COMPILER)
+ set(_TBB_COMPILER ${TBB_COMPILER})
+ endif(NOT TBB_COMPILER)
+ if(NOT TBB_ARCHITECTURE)
+ set(_TBB_ARCHITECTURE "ia32")
+ elseif(NOT TBB_ARCHITECTURE)
+ set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
+ endif(NOT TBB_ARCHITECTURE)
+ else (APPLE)
+ # LINUX
+ set(_TBB_DEFAULT_INSTALL_DIR "/opt/intel/tbb" "/usr/local/include" "/usr/include")
+ set(_TBB_LIB_NAME "tbb")
+ set(_TBB_LIB_MALLOC_NAME "${_TBB_LIB_NAME}malloc")
+ set(_TBB_LIB_DEBUG_NAME "${_TBB_LIB_NAME}_debug")
+ set(_TBB_LIB_MALLOC_DEBUG_NAME "${_TBB_LIB_MALLOC_NAME}_debug")
+ # has em64t/cc3.2.3_libc2.3.2_kernel2.4.21 em64t/cc3.3.3_libc2.3.3_kernel2.6.5 em64t/cc3.4.3_libc2.3.4_kernel2.6.9 em64t/cc4.1.0_libc2.4_kernel2.6.16.21
+ # has ia32/*
+ # has itanium/*
+ set(_TBB_COMPILER ${TBB_COMPILER})
+ set(_TBB_ARCHITECTURE ${TBB_ARCHITECTURE})
+ endif (APPLE)
+endif (UNIX)
+
+if (CMAKE_SYSTEM MATCHES "SunOS.*")
+# SUN
+# not yet supported
+# has em64t/cc3.4.3_kernel5.10
+# has ia32/*
+endif (CMAKE_SYSTEM MATCHES "SunOS.*")
+
+
+#-- Clear the public variables
+set (TBB_FOUND "NO")
+
+
+#-- Find TBB install dir and set ${_TBB_INSTALL_DIR} and cached ${TBB_INSTALL_DIR}
+# first: use CMake variable TBB_INSTALL_DIR
+if (TBB_INSTALL_DIR)
+ set (_TBB_INSTALL_DIR ${TBB_INSTALL_DIR})
+endif (TBB_INSTALL_DIR)
+# second: use environment variable
+if (NOT _TBB_INSTALL_DIR)
+ if (NOT "$ENV{TBB_INSTALL_DIR}" STREQUAL "")
+ set (_TBB_INSTALL_DIR $ENV{TBB_INSTALL_DIR})
+ endif (NOT "$ENV{TBB_INSTALL_DIR}" STREQUAL "")
+ # Intel recommends setting TBB21_INSTALL_DIR
+ if (NOT "$ENV{TBB21_INSTALL_DIR}" STREQUAL "")
+ set (_TBB_INSTALL_DIR $ENV{TBB21_INSTALL_DIR})
+ endif (NOT "$ENV{TBB21_INSTALL_DIR}" STREQUAL "")
+ if (NOT "$ENV{TBB22_INSTALL_DIR}" STREQUAL "")
+ set (_TBB_INSTALL_DIR $ENV{TBB22_INSTALL_DIR})
+ endif (NOT "$ENV{TBB22_INSTALL_DIR}" STREQUAL "")
+ if (NOT "$ENV{TBB30_INSTALL_DIR}" STREQUAL "")
+ set (_TBB_INSTALL_DIR $ENV{TBB30_INSTALL_DIR})
+ endif (NOT "$ENV{TBB30_INSTALL_DIR}" STREQUAL "")
+endif (NOT _TBB_INSTALL_DIR)
+# third: try to find path automatically
+if (NOT _TBB_INSTALL_DIR)
+ if (_TBB_DEFAULT_INSTALL_DIR)
+ set (_TBB_INSTALL_DIR ${_TBB_DEFAULT_INSTALL_DIR})
+ endif (_TBB_DEFAULT_INSTALL_DIR)
+endif (NOT _TBB_INSTALL_DIR)
+# sanity check
+if (NOT _TBB_INSTALL_DIR)
+ message ("ERROR: Unable to find Intel TBB install directory. ${_TBB_INSTALL_DIR}")
+else (NOT _TBB_INSTALL_DIR)
+# finally: set the cached CMake variable TBB_INSTALL_DIR
+if (NOT TBB_INSTALL_DIR)
+ set (TBB_INSTALL_DIR ${_TBB_INSTALL_DIR} CACHE PATH "Intel TBB install directory")
+ mark_as_advanced(TBB_INSTALL_DIR)
+endif (NOT TBB_INSTALL_DIR)
+
+
+#-- A macro to rewrite the paths of the library. This is necessary, because
+# find_library() always found the em64t/vc9 version of the TBB libs
+macro(TBB_CORRECT_LIB_DIR var_name)
+# if (NOT "${_TBB_ARCHITECTURE}" STREQUAL "em64t")
+ string(REPLACE em64t "${_TBB_ARCHITECTURE}" ${var_name} ${${var_name}})
+# endif (NOT "${_TBB_ARCHITECTURE}" STREQUAL "em64t")
+ string(REPLACE ia32 "${_TBB_ARCHITECTURE}" ${var_name} ${${var_name}})
+ string(REPLACE vc7.1 "${_TBB_COMPILER}" ${var_name} ${${var_name}})
+ string(REPLACE vc8 "${_TBB_COMPILER}" ${var_name} ${${var_name}})
+ string(REPLACE vc9 "${_TBB_COMPILER}" ${var_name} ${${var_name}})
+ string(REPLACE vc10 "${_TBB_COMPILER}" ${var_name} ${${var_name}})
+ string(REPLACE vc11 "${_TBB_COMPILER}" ${var_name} ${${var_name}})
+endmacro(TBB_CORRECT_LIB_DIR var_content)
+
+
+#-- Look for include directory and set ${TBB_INCLUDE_DIR}
+set (TBB_INC_SEARCH_DIR ${_TBB_INSTALL_DIR}/include)
+# Jiri: tbbvars now sets the CPATH environment variable to the directory
+# containing the headers.
+find_path(TBB_INCLUDE_DIR
+ tbb/task_scheduler_init.h
+ PATHS ${TBB_INC_SEARCH_DIR} ENV CPATH
+)
+mark_as_advanced(TBB_INCLUDE_DIR)
+
+
+#-- Look for libraries
+# GvdB: $ENV{TBB_ARCH_PLATFORM} is set by the build script tbbvars[.bat|.sh|.csh]
+if (NOT $ENV{TBB_ARCH_PLATFORM} STREQUAL "")
+ set (_TBB_LIBRARY_DIR
+ ${_TBB_INSTALL_DIR}/lib/$ENV{TBB_ARCH_PLATFORM}
+ ${_TBB_INSTALL_DIR}/$ENV{TBB_ARCH_PLATFORM}/lib
+ )
+endif (NOT $ENV{TBB_ARCH_PLATFORM} STREQUAL "")
+# Jiri: This block isn't mutually exclusive with the previous one
+# (hence no else), instead I test if the user really specified
+# the variables in question.
+if ((NOT ${TBB_ARCHITECTURE} STREQUAL "") AND (NOT ${TBB_COMPILER} STREQUAL ""))
+ # HH: deprecated
+ message(STATUS "[Warning] FindTBB.cmake: The use of TBB_ARCHITECTURE and TBB_COMPILER is deprecated and may not be supported in future versions. Please set \$ENV{TBB_ARCH_PLATFORM} (using tbbvars.[bat|csh|sh]).")
+ # Jiri: It doesn't hurt to look in more places, so I store the hints from
+ # ENV{TBB_ARCH_PLATFORM} and the TBB_ARCHITECTURE and TBB_COMPILER
+ # variables and search them both.
+ set (_TBB_LIBRARY_DIR "${_TBB_INSTALL_DIR}/${_TBB_ARCHITECTURE}/${_TBB_COMPILER}/lib" ${_TBB_LIBRARY_DIR})
+endif ((NOT ${TBB_ARCHITECTURE} STREQUAL "") AND (NOT ${TBB_COMPILER} STREQUAL ""))
+
+# GvdB: Mac OS X distribution places libraries directly in lib directory.
+list(APPEND _TBB_LIBRARY_DIR ${_TBB_INSTALL_DIR}/lib)
+
+# Jiri: No reason not to check the default paths. From recent versions,
+# tbbvars has started exporting the LIBRARY_PATH and LD_LIBRARY_PATH
+# variables, which now point to the directories of the lib files.
+# It all makes more sense to use the ${_TBB_LIBRARY_DIR} as a HINTS
+# argument instead of the implicit PATHS as it isn't hard-coded
+# but computed by system introspection. Searching the LIBRARY_PATH
+# and LD_LIBRARY_PATH environment variables is now even more important
+# that tbbvars doesn't export TBB_ARCH_PLATFORM and it facilitates
+# the use of TBB built from sources.
+find_library(TBB_LIBRARY ${_TBB_LIB_NAME} HINTS ${_TBB_LIBRARY_DIR}
+ PATHS ENV LIBRARY_PATH ENV LD_LIBRARY_PATH)
+find_library(TBB_MALLOC_LIBRARY ${_TBB_LIB_MALLOC_NAME} HINTS ${_TBB_LIBRARY_DIR}
+ PATHS ENV LIBRARY_PATH ENV LD_LIBRARY_PATH)
+
+#Extract path from TBB_LIBRARY name
+get_filename_component(TBB_LIBRARY_DIR ${TBB_LIBRARY} PATH)
+
+#TBB_CORRECT_LIB_DIR(TBB_LIBRARY)
+#TBB_CORRECT_LIB_DIR(TBB_MALLOC_LIBRARY)
+mark_as_advanced(TBB_LIBRARY TBB_MALLOC_LIBRARY)
+
+#-- Look for debug libraries
+# Jiri: Changed the same way as for the release libraries.
+find_library(TBB_LIBRARY_DEBUG ${_TBB_LIB_DEBUG_NAME} HINTS ${_TBB_LIBRARY_DIR}
+ PATHS ENV LIBRARY_PATH ENV LD_LIBRARY_PATH)
+find_library(TBB_MALLOC_LIBRARY_DEBUG ${_TBB_LIB_MALLOC_DEBUG_NAME} HINTS ${_TBB_LIBRARY_DIR}
+ PATHS ENV LIBRARY_PATH ENV LD_LIBRARY_PATH)
+
+# Jiri: Self-built TBB stores the debug libraries in a separate directory.
+# Extract path from TBB_LIBRARY_DEBUG name
+get_filename_component(TBB_LIBRARY_DEBUG_DIR ${TBB_LIBRARY_DEBUG} PATH)
+
+#TBB_CORRECT_LIB_DIR(TBB_LIBRARY_DEBUG)
+#TBB_CORRECT_LIB_DIR(TBB_MALLOC_LIBRARY_DEBUG)
+mark_as_advanced(TBB_LIBRARY_DEBUG TBB_MALLOC_LIBRARY_DEBUG)
+
+
+if (TBB_INCLUDE_DIR)
+ if (TBB_LIBRARY)
+ set (TBB_FOUND "YES")
+ set (TBB_LIBRARIES ${TBB_LIBRARY} ${TBB_MALLOC_LIBRARY} ${TBB_LIBRARIES})
+ set (TBB_DEBUG_LIBRARIES ${TBB_LIBRARY_DEBUG} ${TBB_MALLOC_LIBRARY_DEBUG} ${TBB_DEBUG_LIBRARIES})
+ set (TBB_INCLUDE_DIRS ${TBB_INCLUDE_DIR} CACHE PATH "TBB include directory" FORCE)
+ set (TBB_LIBRARY_DIRS ${TBB_LIBRARY_DIR} CACHE PATH "TBB library directory" FORCE)
+ # Jiri: Self-built TBB stores the debug libraries in a separate directory.
+ set (TBB_DEBUG_LIBRARY_DIRS ${TBB_LIBRARY_DEBUG_DIR} CACHE PATH "TBB debug library directory" FORCE)
+ mark_as_advanced(TBB_INCLUDE_DIRS TBB_LIBRARY_DIRS TBB_DEBUG_LIBRARY_DIRS TBB_LIBRARIES TBB_DEBUG_LIBRARIES)
+ message(STATUS "Found Intel TBB")
+ endif (TBB_LIBRARY)
+endif (TBB_INCLUDE_DIR)
+
+if (NOT TBB_FOUND)
+ message("ERROR: Intel TBB NOT found!")
+ message(STATUS "Looked for Threading Building Blocks in ${_TBB_INSTALL_DIR}")
+ # do only throw fatal, if this pkg is REQUIRED
+ if (TBB_FIND_REQUIRED)
+ message(FATAL_ERROR "Could NOT find TBB library.")
+ endif (TBB_FIND_REQUIRED)
+endif (NOT TBB_FOUND)
+
+endif (NOT _TBB_INSTALL_DIR)
+
+if (TBB_FOUND)
+ set(TBB_INTERFACE_VERSION 0)
+ FILE(READ "${TBB_INCLUDE_DIRS}/tbb/tbb_stddef.h" _TBB_VERSION_CONTENTS)
+ STRING(REGEX REPLACE ".*#define TBB_INTERFACE_VERSION ([0-9]+).*" "\\1" TBB_INTERFACE_VERSION "${_TBB_VERSION_CONTENTS}")
+ set(TBB_INTERFACE_VERSION "${TBB_INTERFACE_VERSION}")
+endif (TBB_FOUND)
\ No newline at end of file
diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
new file mode 100644
index 000000000..5337866c0
--- /dev/null
+++ b/cmake/GtsamBuildTypes.cmake
@@ -0,0 +1,121 @@
+
+# Add install prefix to search path
+list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")
+
+# Default to Release mode
+if(NOT FIRST_PASS_DONE AND NOT CMAKE_BUILD_TYPE)
+ set(CMAKE_BUILD_TYPE "Release" CACHE STRING
+ "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo."
+ FORCE)
+endif()
+
+# Add option for using build type postfixes to allow installing multiple build modes
+if(MSVC)
+ option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON)
+else()
+ option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" OFF)
+endif()
+
+# Add debugging flags but only on the first pass
+if(NOT FIRST_PASS_DONE)
+ if(MSVC)
+ set(CMAKE_C_FLAGS_DEBUG "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+ set(CMAKE_CXX_FLAGS_DEBUG "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+ set(CMAKE_C_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+ set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+ set(CMAKE_C_FLAGS_RELEASE "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+ set(CMAKE_CXX_FLAGS_RELEASE "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+ set(CMAKE_C_FLAGS_TIMING "${CMAKE_C_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
+ set(CMAKE_CXX_FLAGS_TIMING "${CMAKE_CXX_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
+ set(CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
+ set(CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
+ mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
+ set(CMAKE_C_FLAGS_PROFILING "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+ set(CMAKE_CXX_FLAGS_PROFILING "/MD /O2 /DNDEBUG /W3 /GR /EHsc /MP /Zi /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+ set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
+ set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
+ mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)
+ else()
+ set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+ set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+ set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+ set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+ set(CMAKE_C_FLAGS_TIMING "${CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
+ set(CMAKE_CXX_FLAGS_TIMING "${CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
+ set(CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
+ set(CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
+ mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
+ set(CMAKE_C_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+ set(CMAKE_CXX_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+ set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
+ set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
+ mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)
+ endif()
+endif()
+
+# Set up build type library postfixes
+if(GTSAM_BUILD_TYPE_POSTFIXES)
+ foreach(build_type Debug Timing RelWithDebInfo MinSizeRel)
+ string(TOUPPER "${build_type}" build_type_toupper)
+ set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
+ endforeach()
+endif()
+
+# Make common binary output directory when on Windows
+if(WIN32)
+ set(RUNTIME_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
+ set(EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
+ set(LIBRARY_OUTPUT_PATH "${PROJECT_BINARY_DIR}/lib")
+endif()
+
+# Set up build type list for cmake-gui
+if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
+ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
+endif()
+
+# Set up build types for MSVC and XCode
+if(CMAKE_CONFIGURATION_TYPES AND NOT FIRST_PASS_DONE)
+ set(CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
+ CACHE STRING "Build types available to MSVC and XCode" FORCE)
+endif()
+
+# Check build types
+string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
+if( NOT cmake_build_type_tolower STREQUAL ""
+ AND NOT cmake_build_type_tolower STREQUAL "none"
+ AND NOT cmake_build_type_tolower STREQUAL "debug"
+ AND NOT cmake_build_type_tolower STREQUAL "release"
+ AND NOT cmake_build_type_tolower STREQUAL "timing"
+ AND NOT cmake_build_type_tolower STREQUAL "profiling"
+ AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo")
+ message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo (case-insensitive).")
+endif()
+
+# Mark that first pass is done
+set(FIRST_PASS_DONE TRUE CACHE BOOL "Internally used to mark whether cmake has been run multiple times" FORCE)
+mark_as_advanced(FIRST_PASS_DONE)
+
+# Enable Visual Studio solution folders
+set_property(GLOBAL PROPERTY USE_FOLDERS On)
+
+# Function for automatically assigning source folders
+function(gtsam_assign_source_folders)
+ set(FILES ${ARGV})
+ foreach(file ${FILES})
+ file(RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}")
+ get_filename_component(relative_path "${relative_file}" PATH)
+ file(TO_NATIVE_PATH "${relative_path}" relative_path)
+ source_group("${relative_path}" FILES "${file}")
+ endforeach()
+endfunction()
+
+# Find and assign all source and header files
+function(gtsam_assign_all_source_folders)
+ file(GLOB_RECURSE all_c_srcs "*.c")
+ file(GLOB_RECURSE all_cpp_srcs "*.cpp")
+ file(GLOB_RECURSE all_headers "*.h")
+ gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}")
+endfunction()
+
diff --git a/cmake/GtsamMakeConfigFile.cmake b/cmake/GtsamMakeConfigFile.cmake
new file mode 100644
index 000000000..bad8c5634
--- /dev/null
+++ b/cmake/GtsamMakeConfigFile.cmake
@@ -0,0 +1,20 @@
+# Writes a config file
+
+function(GtsamMakeConfigFile PACKAGE_NAME)
+
+ if(WIN32 AND NOT CYGWIN)
+ set(DEF_INSTALL_CMAKE_DIR CMake)
+ else()
+ set(DEF_INSTALL_CMAKE_DIR lib/cmake/${PACKAGE_NAME})
+ endif()
+
+ file(RELATIVE_PATH CONF_REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/include")
+ file(RELATIVE_PATH CONF_REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/lib")
+ configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" @ONLY)
+ message(STATUS "Wrote ${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake")
+
+ # Install config and exports files (for find scripts)
+ install(FILES "${PROJECT_BINARY_DIR}/${PACKAGE_NAME}Config.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}")
+ install(EXPORT ${PACKAGE_NAME}-exports DESTINATION ${DEF_INSTALL_CMAKE_DIR})
+
+endfunction()
diff --git a/cmake/GtsamMatlabWrap.cmake b/cmake/GtsamMatlabWrap.cmake
new file mode 100644
index 000000000..4959aa722
--- /dev/null
+++ b/cmake/GtsamMatlabWrap.cmake
@@ -0,0 +1,274 @@
+# Set up cache options
+option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
+set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
+set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox")
+if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
+ set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox")
+endif()
+
+# GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static
+# are already compiled into the library by the linker
+if(GTSAM_MEX_BUILD_STATIC_MODULE AND WIN32)
+ message(FATAL_ERROR "GTSAM_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).")
+endif()
+
+# Try to automatically configure mex path
+if(APPLE)
+ file(GLOB matlab_bin_directories "/Applications/MATLAB*/bin")
+ set(mex_program_name "mex")
+elseif(WIN32)
+ file(GLOB matlab_bin_directories "C:/Program Files*/MATLAB/*/bin")
+ set(mex_program_name "mex.bat")
+else()
+ file(GLOB matlab_bin_directories "/usr/local/MATLAB/*/bin")
+ set(mex_program_name "mex")
+endif()
+# Run find_program explicitly putting $PATH after our predefined program
+# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents
+# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
+# on the system path.
+list(REVERSE matlab_bin_directories) # Reverse list so the highest version (sorted alphabetically) is preferred
+find_program(MEX_COMMAND ${mex_program_name}
+ PATHS ${matlab_bin_directories} ENV PATH
+ DOC "Command to use for executing mex (if on path, 'mex' will work)"
+ NO_SYSTEM_ENVIRONMENT_PATH)
+
+
+# Function to setup codegen and building of the wrap toolbox
+#
+# params:
+# moduleName : the name of the module, interface file must be called moduleName.h
+# mexFlags : Compilation flags to be passed to the mex compiler
+# modulePath : relative path to module markup header file (called moduleName.h)
+# otherLibraries : list of library targets this should depend on
+# toolboxPath : the directory in which to generate/build wrappers
+# wrap_header_path : path to the installed wrap header
+function(wrap_library_generic moduleName mexFlags modulePath otherLibraries toolbox_path wrap_header_path)
+
+ set(module_markup_header_file "${moduleName}.h")
+ set(module_markup_header_path "${CMAKE_CURRENT_SOURCE_DIR}/${modulePath}/${module_markup_header_file}")
+
+ # Add wrap cpp file first
+ set(mexSources "")
+ list(APPEND mexSources ${moduleName}_wrapper.cpp)
+
+ # Add boost libraries
+ string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper)
+ if("${build_type_toupper}" STREQUAL "DEBUG")
+ list(APPEND otherLibraries ${Boost_SERIALIZATION_LIBRARY_DEBUG} ${Boost_FILESYSTEM_LIBRARY_DEBUG}
+ ${Boost_SYSTEM_LIBRARY_DEBUG} ${Boost_THREAD_LIBRARY_DEBUG} ${Boost_DATE_TIME_LIBRARY_DEBUG}
+ ${Boost_REGEX_LIBRARY_DEBUG})
+ if(Boost_TIMER_LIBRARY_DEBUG AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
+ list(APPEND otherLibraries ${Boost_TIMER_LIBRARY_DEBUG} ${Boost_CHRONO_LIBRARY_DEBUG})
+ if(GTSAM_MEX_BUILD_STATIC_MODULE)
+ list(APPEND otherLibraries -Wl,--no-as-needed -lrt)
+ endif()
+ endif()
+ else()
+ list(APPEND otherLibraries ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE}
+ ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}
+ ${Boost_REGEX_LIBRARY_RELEASE})
+ if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
+ list(APPEND otherLibraries ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE})
+ if(GTSAM_MEX_BUILD_STATIC_MODULE)
+ list(APPEND otherLibraries -Wl,--no-as-needed -lrt)
+ endif()
+ endif()
+ endif()
+
+ # Sort otherLibraries into files and targets, add -shared or -static to other dependency library names
+ set(otherLibraryTargets "")
+ set(otherLibraryLinks "")
+ set(otherLibraryArchives "")
+ foreach(lib ${moduleName} ${otherLibraries})
+ if(TARGET ${lib})
+ list(APPEND otherLibraryTargets ${lib})
+ elseif(TARGET ${lib}-shared) # Prefer the shared library if we have both shared and static
+ list(APPEND otherLibraryTargets ${lib}-shared)
+ elseif(TARGET ${lib}-static)
+ list(APPEND otherLibraryTargets ${lib}-static)
+ else()
+ if(${lib} MATCHES "^.+\\.a$")
+ list(APPEND otherLibraryArchives ${lib})
+ else()
+ list(APPEND otherLibraryLinks ${lib})
+ endif()
+ endif()
+ endforeach()
+
+ # Get path to libraries with current build type
+ foreach(target ${otherLibraryTargets})
+ if(GTSAM_MEX_BUILD_STATIC_MODULE)
+ # If building the wrapper statically, add the target's sources to the mex sources
+ get_target_property(librarySources ${target} SOURCES)
+ list(APPEND mexSources ${librarySources})
+ else()
+ # If not building wrapper staticically, link to the target library
+ get_target_property(libraryFile ${target} LOCATION_${build_type_toupper})
+ get_target_property(targetType ${target} TYPE)
+ if(WIN32 AND NOT targetType STREQUAL STATIC_LIBRARY)
+ # On Windows with a shared library, we link to the import library file
+ get_filename_component(libraryDir ${libraryFile} PATH)
+ get_filename_component(libraryName ${libraryFile} NAME_WE)
+ get_filename_component(oneUpDir ${libraryDir} NAME)
+ string(TOUPPER "${oneUpDir}" oneUpDir)
+ if("${oneUpDir}" STREQUAL BIN OR "${oneUpDir}" STREQUAL LIB)
+ # One level up is 'bin' or 'lib' so we do not have an extra
+ # subdirectory for the build configuration.
+ set(libraryFile "${libraryDir}/../lib/${libraryName}.lib")
+ else()
+ # One level up was neither 'bin' nor 'lib' so assume we also
+ # have a subdirectory for the build configuration.
+ set(libraryFile "${libraryDir}/../../lib/${build_type_toupper}/${libraryName}.lib")
+ endif()
+ endif()
+ list(APPEND otherLibraryLinks ${libraryFile})
+ endif()
+ endforeach()
+
+ # Bad hack - if static wrapper and this is GTSAM, add colamd to the include path
+ if(GTSAM_MEX_BUILD_STATIC_MODULE AND (${moduleName} STREQUAL "gtsam" OR ${moduleName} STREQUAL "gtsam_unstable"))
+ list(APPEND mexFlags
+ "-I${PROJECT_SOURCE_DIR}/gtsam/3rdparty/CCOLAMD/Include" "-I${PROJECT_SOURCE_DIR}/gtsam/3rdparty/UFconfig")
+ endif()
+
+ # If using Boost shared libs, set up auto linking for shared libs
+ if(NOT Boost_USE_STATIC_LIBS)
+ list(APPEND mexFlags "-DBOOST_ALL_DYN_LINK")
+ endif()
+
+ # Add the CXXFLAGS from building the library
+ if(MSVC)
+ set(compile_flag_var "COMPFLAGS")
+ set(link_flag_var "LINKFLAGS")
+ set(cxx_flags_extra "/bigobj")
+ else()
+ set(compile_flag_var "CXXFLAGS")
+ set(link_flag_var "LDFLAGS")
+ set(cxx_flags_extra "")
+ endif()
+ list(APPEND mexFlags "${compile_flag_var}=$${compile_flag_var} ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}} ${cxx_flags_extra}")
+
+ # If building a static module on UNIX, extract dependent .a libraries and add their .o files
+ if(UNIX AND GTSAM_MEX_BUILD_STATIC_MODULE)
+ file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/wrap/external_archives)
+ foreach(archive ${otherLibraryArchives})
+ get_filename_component(archive_name ${archive} NAME_WE)
+ set(extraction_dir ${CMAKE_BINARY_DIR}/wrap/external_archives/${archive_name})
+ file(MAKE_DIRECTORY ${extraction_dir})
+ # Extract archive
+ execute_process(
+ COMMAND ar x ${archive}
+ WORKING_DIRECTORY ${extraction_dir})
+ # Get list of .o's in archive
+ execute_process(
+ COMMAND ar t ${archive}
+ OUTPUT_VARIABLE object_files OUTPUT_STRIP_TRAILING_WHITESPACE)
+ string(REPLACE "\n" ";" object_list ${object_files})
+ set(object_list_absolute "")
+ foreach(object ${object_list})
+ list(APPEND object_list_absolute ${extraction_dir}/${object})
+ endforeach()
+ list(APPEND mexSources ${object_list_absolute})
+ endforeach()
+ set(otherLibraryArchives "")
+ endif()
+
+ # Add libraries to command line
+ string(REPLACE ";" " " otherLibraryArchivesSpaced "${otherLibraryArchives}")
+ list(APPEND mexFlags "${link_flag_var}=$${link_flag_var} ${otherLibraryArchivesSpaced}")
+ list(APPEND mexFlags ${otherLibraryLinks})
+
+ # Add -g if debug mode
+ if(${build_type_toupper} STREQUAL DEBUG OR ${build_type_toupper} STREQUAL RELWITHDEBINFO)
+ list(APPEND mexFlags -g)
+ endif()
+
+ # Verbose mex - print mex compilation flags to help notice flag problems
+ list(APPEND mexFlags -v)
+
+ # Add sources
+ set(mexSourcesFiltered "")
+ foreach(src ${mexSources})
+ if(src MATCHES "^.+\\.cpp$" OR src MATCHES "^.+\\.c$" OR src MATCHES "^.+\\.o$")
+ list(APPEND mexSourcesFiltered ${src})
+ endif()
+ endforeach()
+ set(mexFlags ${mexSourcesFiltered} ${mexFlags})
+
+ string(REPLACE ";" "' '" mexFlagsForDisplay "${mexFlags}")
+ message(STATUS "Building Matlab Wrapper, mexFlags: [ '${mexFlagsForDisplay}' ]")
+
+ # Wrap codegen interface
+ #usage: wrap interfacePath moduleName toolboxPath headerPath
+ # interfacePath : *absolute* path to directory of module interface file
+ # moduleName : the name of the module, interface file must be called moduleName.h
+ # toolboxPath : the directory in which to generate the wrappers
+ # headerPath : path to matlab.h
+
+ # Code generation command
+ # FIXME: doesn't get cleaned properly because cmake doesn't track the dependency
+ # TODO: convert to a custom_command with output specified
+ get_target_property(wrap_LOCATION wrap LOCATION_${CMAKE_BUILD_TYPE})
+ add_custom_target(wrap_${moduleName}
+ ALL # Forces wrap to always be run, but no files are touched if they don't change
+ COMMAND
+ ${wrap_LOCATION}
+ ${CMAKE_CURRENT_SOURCE_DIR}/${modulePath}
+ ${moduleName}
+ ${toolbox_path}
+ ${wrap_header_path}
+ VERBATIM)
+ add_dependencies(wrap_${moduleName} wrap ${module_markup_header_path})
+
+ # Hacking around output issue with custom command
+ # Deletes generated build folder
+ add_custom_target(wrap_${moduleName}_distclean
+ COMMAND
+ cmake -E remove_directory ${toolbox_path})
+
+ # Make building mex binaries a part of the all (and install) target
+ set(build_all "ALL")
+
+ # If building wrapper statically, we compile all the library sources
+ # with mex, so need no extra dependencies, but if not building statically,
+ # we depend on the libraries since we will link to them.
+ if(GTSAM_MEX_BUILD_STATIC_MODULE)
+ set(wrap_build_dependencies "")
+ else()
+ set(wrap_build_dependencies ${moduleTarget} ${otherLibraryTargets})
+ endif()
+
+ # Actual build target for building mex files
+ add_custom_target(wrap_${moduleName}_build ${build_all}
+ COMMAND "${MEX_COMMAND}" ${mexFlags}
+ VERBATIM
+ WORKING_DIRECTORY ${toolbox_path})
+ add_dependencies(wrap_${moduleName}_build wrap_${moduleName} ${wrap_build_dependencies})
+
+endfunction(wrap_library_generic)
+
+# Function to setup codegen, building and installation of the wrap toolbox
+# This wrap setup function assumes that the toolbox will be installed directly,
+# with predictable matlab.h sourcing. Use this version when the toolbox will be used
+# from the installed version, rather than in place.
+# Assumes variable GTSAM_WRAP_HEADER_PATH has been set
+# params:
+# moduleName : the name of the module, interface file must be called moduleName.h
+# mexFlags : Compilation flags to be passed to the mex compiler
+# modulePath : relative path to module markup header file (called moduleName.h)
+# otherLibraries : list of library targets this should depend on
+function(wrap_library moduleName mexFlags modulePath otherLibraries)
+ # Toolbox generation path goes in build folder
+ set(toolbox_base_path ${CMAKE_BINARY_DIR}/wrap)
+ set(toolbox_path ${toolbox_base_path}/${moduleName})
+
+ # Call generic version of function
+ wrap_library_generic("${moduleName}" "${mexFlags}" "${modulePath}" "${otherLibraries}" "${toolbox_path}" "${GTSAM_WRAP_HEADER_PATH}")
+
+ # NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash on the directory name
+ # here prevents creating the top-level module name directory in the destination.
+ message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
+ install(DIRECTORY ${toolbox_path}/ DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m")
+ install(DIRECTORY ${toolbox_path}/ DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.mex*")
+endfunction(wrap_library)
diff --git a/cmake/GtsamPrinting.cmake b/cmake/GtsamPrinting.cmake
new file mode 100644
index 000000000..674fd4086
--- /dev/null
+++ b/cmake/GtsamPrinting.cmake
@@ -0,0 +1,10 @@
+# print configuration variables
+# Usage:
+#print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
+function(print_config_flag flag msg)
+ if (flag)
+ message(STATUS " ${msg}: Enabled")
+ else ()
+ message(STATUS " ${msg}: Disabled")
+ endif ()
+endfunction(print_config_flag)
diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
new file mode 100644
index 000000000..b27ea0435
--- /dev/null
+++ b/cmake/GtsamTesting.cmake
@@ -0,0 +1,206 @@
+# Build macros for using tests
+
+enable_testing()
+
+# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
+add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure)
+add_custom_target(timing)
+
+# Add option for combining unit tests
+if(MSVC)
+ option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
+else()
+ option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
+endif()
+
+# Macro for adding categorized tests in a "tests" folder, with
+# optional exclusion of tests and convenience library linking options
+#
+# By default, all tests are linked with CppUnitLite and boost
+# Arguments:
+# - subdir The name of the category for this test
+# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
+# - full_libs The main library to link against if not using convenience libraries
+# - excluded_tests A list of test files that should not be compiled - use for debugging
+function(gtsam_add_subdir_tests subdir local_libs full_libs excluded_tests)
+ # Subdirectory target for tests
+ add_custom_target(check.${subdir} COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure)
+ set(is_test TRUE)
+
+ # Put check target in Visual Studio solution folder
+ file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
+ set_property(TARGET check.${subdir} PROPERTY FOLDER "${relative_path}")
+
+ # Link with CppUnitLite - pulled from gtsam installation
+ list(APPEND local_libs CppUnitLite)
+ list(APPEND full_libs CppUnitLite)
+
+ # Build grouped tests
+ gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
+ "tests/test*.cpp" check "Test" # Standard for all tests
+ "${local_libs}"
+ "${full_libs}" "${excluded_tests}" # Pass in linking and exclusion lists
+ ${is_test}) # Set all as tests
+endfunction()
+
+# Macro for adding categorized timing scripts in a "tests" folder, with
+# optional exclusion of tests and convenience library linking options
+#
+# By default, all tests are linked with boost
+# Arguments:
+# - subdir The name of the category for this timing script
+# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
+# - full_libs The main library to link against if not using convenience libraries
+# - excluded_srcs A list of timing files that should not be compiled - use for debugging
+macro(gtsam_add_subdir_timing subdir local_libs full_libs excluded_srcs)
+ # Subdirectory target for timing - does not actually execute the scripts
+ add_custom_target(timing.${subdir})
+ set(is_test FALSE)
+
+ # Build grouped benchmarks
+ gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
+ "tests/time*.cpp" timing "Timing Benchmark" # Standard for all timing scripts
+ "${local_libs}" "${full_libs}" "${excluded_srcs}" # Pass in linking and exclusion lists
+ ${is_test}) # Treat as not a test
+endmacro()
+
+# Macro for adding executables matching a pattern - builds one executable for
+# each file matching the pattern. These exectuables are automatically linked
+# with boost.
+# Arguments:
+# - pattern The glob pattern to match source files
+# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
+# - full_libs The main library to link against if not using convenience libraries
+# - excluded_srcs A list of timing files that should not be compiled - use for debugging
+function(gtsam_add_executables pattern local_libs full_libs excluded_srcs)
+ set(is_test FALSE)
+
+ if(NOT excluded_srcs)
+ set(excluded_srcs "")
+ endif()
+
+ # Build executables
+ gtsam_add_grouped_scripts("" "${pattern}" "" "Executable" "${local_libs}" "${full_libs}" "${excluded_srcs}" ${is_test})
+endfunction()
+
+# General-purpose script for adding tests with categories and linking options
+macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name local_libs full_libs excluded_srcs is_test)
+ # Get all script files
+ set(script_files "")
+ foreach(one_pattern ${pattern})
+ file(GLOB one_script_files "${one_pattern}")
+ list(APPEND script_files "${one_script_files}")
+ endforeach()
+
+ # Remove excluded scripts from the list
+ set(exclusions "") # Need to copy out exclusion list for logic to work
+ foreach(one_exclusion ${excluded_srcs})
+ file(GLOB one_exclusion_srcs "${one_exclusion}")
+ list(APPEND exclusions "${one_exclusion_srcs}")
+ endforeach()
+ if(exclusions)
+ list(REMOVE_ITEM script_files ${exclusions})
+ endif(exclusions)
+
+ # Separate into source files and headers
+ set(script_srcs "")
+ set(script_headers "")
+ foreach(script_file ${script_files})
+ get_filename_component(script_ext ${script_file} EXT)
+ if(script_ext MATCHES "(h|H)")
+ list(APPEND script_headers ${script_file})
+ else()
+ list(APPEND script_srcs ${script_file})
+ endif()
+ endforeach()
+
+
+ # Add targets and dependencies for each script
+ if(NOT "${group}" STREQUAL "")
+ message(STATUS "Adding ${pretty_prefix_name}s in ${group}")
+ endif()
+
+ # Create exe's for each script, unless we're in SINGLE_TEST_EXE mode
+ if(NOT is_test OR NOT GTSAM_SINGLE_TEST_EXE)
+ foreach(script_src ${script_srcs})
+ get_filename_component(script_base ${script_src} NAME_WE)
+ if (script_base) # Check for null filenames and headers
+ set( script_bin ${script_base} )
+ message(STATUS "Adding ${pretty_prefix_name} ${script_bin}")
+ add_executable(${script_bin} ${script_src} ${script_headers})
+ if(NOT "${target_prefix}" STREQUAL "")
+ if(NOT "${group}" STREQUAL "")
+ add_dependencies(${target_prefix}.${group} ${script_bin})
+ endif()
+ add_dependencies(${target_prefix} ${script_bin})
+ endif()
+
+ # Add TOPSRCDIR
+ set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${CMAKE_SOURCE_DIR}\"")
+
+ # Disable building during make all/install
+ if (GTSAM_DISABLE_TESTS_ON_INSTALL)
+ set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
+ endif()
+
+ if (is_test)
+ add_test(NAME ${script_base} COMMAND ${script_bin})
+ endif()
+
+ # Linking and dependendencies
+ if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+ target_link_libraries(${script_bin} ${local_libs} ${GTSAM_BOOST_LIBRARIES})
+ else()
+ target_link_libraries(${script_bin} ${full_libs} ${GTSAM_BOOST_LIBRARIES})
+ endif()
+
+ # Add .run target
+ if(NOT MSVC)
+ add_custom_target(${script_bin}.run ${EXECUTABLE_OUTPUT_PATH}${script_bin} ${ARGN})
+ endif()
+
+ # Set up Visual Studio folders
+ file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
+ set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
+ endif()
+ endforeach(script_src)
+
+ if(MSVC)
+ source_group("" FILES ${script_srcs} ${script_headers})
+ endif()
+ else()
+ # Create single unit test exe from all test scripts
+ set(script_bin ${target_prefix}_${group}_prog)
+ add_executable(${script_bin} ${script_srcs} ${script_headers})
+ if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+ target_link_libraries(${script_bin} ${local_libs} ${Boost_LIBRARIES})
+ else()
+ target_link_libraries(${script_bin} ${Boost_LIBRARIES} ${full_libs})
+ endif()
+
+ # Only have a main function in one script
+ set(rest_script_srcs ${script_srcs})
+ list(REMOVE_AT rest_script_srcs 0)
+ set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
+
+ # Add TOPSRCDIR
+ set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${CMAKE_SOURCE_DIR}\"")
+
+ # Add test
+ add_dependencies(${target_prefix}.${group} ${script_bin})
+ add_dependencies(${target_prefix} ${script_bin})
+ add_test(NAME ${target_prefix}.${group} COMMAND ${script_bin})
+
+ # Disable building during make all/install
+ if (GTSAM_DISABLE_TESTS_ON_INSTALL)
+ set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
+ endif()
+
+ # Set up Visual Studio folders
+ if(MSVC)
+ file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
+ set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
+ source_group("" FILES ${script_srcs} ${script_headers})
+ endif()
+ endif()
+endmacro()
diff --git a/cmake/dllexport.h.in b/cmake/dllexport.h.in
new file mode 100644
index 000000000..023f06f57
--- /dev/null
+++ b/cmake/dllexport.h.in
@@ -0,0 +1,46 @@
+/* ----------------------------------------------------------------------------
+
+ * @library_name@ Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file dllexport.h
+ * @brief Symbols for exporting classes and methods from DLLs
+ * @author Richard Roberts
+ * @date Mar 9, 2013
+ */
+
+// Macros for exporting DLL symbols on Windows
+// Usage example:
+// In header file:
+// class GTSAM_EXPORT MyClass { ... };
+//
+// Results in the following declarations:
+// When included while compiling the GTSAM library itself:
+// class __declspec(dllexport) MyClass { ... };
+// When included while compiling other code against GTSAM:
+// class __declspec(dllimport) MyClass { ... };
+#ifdef _WIN32
+# ifdef @library_name@_EXPORTS
+# define @library_name@_EXPORT __declspec(dllexport)
+# define @library_name@_EXTERN_EXPORT __declspec(dllexport) extern
+# else
+# ifndef @library_name@_IMPORT_STATIC
+# define @library_name@_EXPORT __declspec(dllimport)
+# define @library_name@_EXTERN_EXPORT __declspec(dllimport)
+# else /* @library_name@_IMPORT_STATIC */
+# define @library_name@_EXPORT
+# define @library_name@_EXTERN_EXPORT extern
+# endif /* @library_name@_IMPORT_STATIC */
+# endif /* @library_name@_EXPORTS */
+#else /* _WIN32 */
+# define @library_name@_EXPORT
+# define @library_name@_EXTERN_EXPORT extern
+#endif
+
diff --git a/cmake/example_project/CMakeLists.txt b/cmake/example_project/CMakeLists.txt
new file mode 100644
index 000000000..7a22bcea2
--- /dev/null
+++ b/cmake/example_project/CMakeLists.txt
@@ -0,0 +1,173 @@
+# This file should be used as a template for creating new projects using the CMake tools
+# This project has the following features
+# - GTSAM linking
+# - Boost linking
+# - Unit tests via CppUnitLite
+# - Automatic detection of sources and headers in subfolders
+# - Installation of library and headers
+# - Matlab wrap interface with within-project building
+# - Use of GTSAM cmake macros
+
+###################################################################################
+# To create your own project, replace "myproject" with the actual name of your project
+cmake_minimum_required(VERSION 2.6)
+enable_testing()
+project(myproject CXX C)
+
+# Add the cmake subfolder to the cmake module path - necessary to use macros
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${PROJECT_SOURCE_DIR}/cmake")
+
+# Ensure that local folder is searched before library folders
+include_directories(BEFORE "${CMAKE_SOURCE_DIR}")
+
+# Load build type flags and default to Debug mode
+include(GtsamBuildTypes)
+
+###################################################################################
+# Create a list of library dependencies
+# These will be linked with executables
+set(library_deps "")
+set(linking_mode "static")
+
+# Find GTSAM components
+find_package(GTSAM REQUIRED) # Uses installed package
+list(APPEND library_deps gtsam-${linking_mode} gtsam_unstable-${linking_mode})
+
+# Include ransac
+find_package(ransac REQUIRED) # Uses installed package
+list(APPEND library_deps ransac-${linking_mode})
+
+# Boost - same requirement as gtsam
+find_package(Boost 1.43 COMPONENTS
+ serialization
+ system
+ filesystem
+ thread
+ date_time
+ REQUIRED)
+list(APPEND library_deps
+ ${Boost_SERIALIZATION_LIBRARY}
+ ${Boost_SYSTEM_LIBRARY}
+ ${Boost_FILESYSTEM_LIBRARY}
+ ${Boost_THREAD_LIBRARY}
+ ${Boost_DATE_TIME_LIBRARY})
+
+include_directories(${Boost_INCLUDE_DIR} ${GTSAM_INCLUDE_DIR} ${ransac_INCLUDE_DIR})
+
+###################################################################################
+# List subdirs to process tests/sources
+# Each of these will be scanned for new files
+set (myproject_subdirs
+ "." # ensure root folder gets included
+ stuff
+ things
+ )
+
+# loop through subdirs to install and build up source lists
+set(myproject_lib_source "")
+set(myproject_tests_source "")
+set(myproject_scripts_source "")
+foreach(subdir ${myproject_subdirs})
+ # Installing headers
+ message(STATUS "Installing ${subdir}")
+ file(GLOB sub_myproject_headers "myproject/${subdir}/*.h")
+ install(FILES ${sub_myproject_headers} DESTINATION include/myproject/${subdir})
+
+ # add sources to main sources list
+ file(GLOB subdir_srcs "myproject/${subdir}/*.cpp")
+ list(APPEND myproject_lib_source ${subdir_srcs})
+
+ # add tests to main tests list
+ file(GLOB subdir_test_srcs "myproject/${subdir}/tests/*.cpp")
+ list(APPEND myproject_tests_source ${subdir_test_srcs})
+
+ # add scripts to main tests list
+ file(GLOB subdir_scripts_srcs "myproject/${subdir}/scripts/*.cpp")
+ list(APPEND myproject_scripts_source ${subdir_scripts_srcs})
+endforeach(subdir)
+
+set(myproject_version ${myproject_VERSION_MAJOR}.${myproject_VERSION_MINOR}.${myproject_VERSION_PATCH})
+set(myproject_soversion ${myproject_VERSION_MAJOR})
+message(STATUS "GTSAM Version: ${gtsam_version}")
+message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
+
+# Build library (static and shared versions)
+# Include installed versions
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+add_library(${PROJECT_NAME}-shared SHARED ${myproject_lib_source})
+set_target_properties(${PROJECT_NAME}-shared PROPERTIES
+ OUTPUT_NAME ${PROJECT_NAME}
+ CLEAN_DIRECT_OUTPUT 1)
+install(TARGETS myproject-shared EXPORT myproject-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+list(APPEND myproject_EXPORTED_TARGETS myproject-shared)
+
+add_library(${PROJECT_NAME}-static STATIC ${myproject_lib_source})
+set_target_properties(${PROJECT_NAME}-static PROPERTIES
+ OUTPUT_NAME ${PROJECT_NAME}
+ CLEAN_DIRECT_OUTPUT 1)
+install(TARGETS myproject-static EXPORT myproject-exports ARCHIVE DESTINATION lib)
+list(APPEND myproject_EXPORTED_TARGETS myproject-static)
+
+install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
+install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib )
+
+# Disabled tests - subtract these from the test files
+# Note the need for a full path
+set(disabled_tests
+ "dummy"
+ #"${CMAKE_SOURCE_DIR}/myproject/geometry/tests/testCovarianceEllipse.cpp"
+)
+list(REMOVE_ITEM myproject_tests_source ${disabled_tests})
+
+###################################################################################
+# Build tests
+add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
+foreach(test_src_file ${myproject_tests_source})
+ get_filename_component(test_base ${test_src_file} NAME_WE)
+ message(STATUS "Adding test ${test_src_file} with base name ${test_base}" )
+ add_executable(${test_base} ${test_src_file})
+ target_link_libraries(${test_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
+ add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}/${test_base})
+ add_custom_target(${test_base}.run ${test_base} ${ARGN})
+ add_dependencies(check ${test_base})
+endforeach(test_src_file)
+
+# Build scripts
+foreach(script_src_file ${myproject_scripts_source})
+ get_filename_component(script_base ${script_src_file} NAME_WE)
+ message(STATUS "Adding script ${script_src_file} with base name ${script_base}" )
+ add_executable(${script_base} ${script_src_file})
+ target_link_libraries(${script_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
+ add_custom_target(${script_base}.run ${script_base} ${ARGN})
+endforeach(script_src_file)
+
+###################################################################################
+# Matlab wrapping
+include(GtsamMatlabWrap)
+set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
+set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
+set(MYPROJECT_TOOLBOX_DIR "../matlab/myproject" CACHE PATH "Install folder for matlab toolbox - defaults to inside project")
+set(WRAP_HEADER_PATH "${GTSAM_DIR}/../../../include")
+set(MYPROJECT_TOOLBOX_FLAGS
+ ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${PROJECT_SOURCE_DIR} -I${PROJECT_SOURCE_DIR}/myproject -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${GTSAM_INCLUDE_DIR} -I${WRAP_HEADER_PATH} -Wl,-rpath,${CMAKE_BINARY_DIR}:${CMAKE_INSTALL_PREFIX}/lib)
+set(MYPROJECT_LIBRARY_DEPS gtsam gtsam_unstable ransac myproject)
+set(GTSAM_BUILD_MEX_BIN ON)
+
+# Function to setup codegen, building and installation of the wrap toolbox
+# This wrap setup function assumes that the toolbox will be installed directly,
+# with predictable matlab.h sourcing
+# params:
+# moduleName : the name of the module, interface file must be called moduleName.h
+# mexFlags : Compilation flags to be passed to the mex compiler
+# modulePath : relative path to module markup header file (called moduleName.h)
+# otherLibraries : list of library targets this should depend on
+# toolboxPath : the directory in which to generate/build wrappers
+# wrap_header_path : path to the installed wrap header
+wrap_library_generic(myproject "${MYPROJECT_TOOLBOX_FLAGS}" "" "${MYPROJECT_LIBRARY_DEPS}" "${MYPROJECT_TOOLBOX_DIR}" "${WRAP_HEADER_PATH}")
+
+###################################################################################
+# Create Install config and export files
+# This config file takes the place of FindXXX.cmake scripts
+include(GtsamMakeConfigFile)
+GtsamMakeConfigFile(myproject)
+export(TARGETS ${myproject_EXPORTED_TARGETS} FILE myproject-exports.cmake)
\ No newline at end of file
diff --git a/cmake/obsolete/FindCppUnitLite.cmake b/cmake/obsolete/FindCppUnitLite.cmake
new file mode 100644
index 000000000..ea4159319
--- /dev/null
+++ b/cmake/obsolete/FindCppUnitLite.cmake
@@ -0,0 +1,47 @@
+# This is FindCppUnitLite.cmake
+# DEPRECIATED: Use config file approach to pull in targets from gtsam
+# CMake module to locate the CppUnit package
+# The following variables will be defined:
+#
+# CppUnitLite_FOUND : TRUE if the package has been successfully found
+# CppUnitLite_INCLUDE_DIR : paths to CppUnitLite's INCLUDE directories
+# CppUnitLite_LIBS : paths to CppUnitLite's libraries
+
+# If gtsam was found by a previous call to FindGTSAM, prefer to find the
+# CppUnitLite in the same place as that gtsam
+if(GTSAM_LIBS)
+ # Find the gtsam library path found by a previous call to FindGTSAM
+ get_filename_component(_gtsam_lib_dir "${GTSAM_LIBS}" PATH)
+ get_filename_component(_gtsam_lib_dir_name "${_gtsam_lib_dir}" NAME)
+ # If the gtsam library was in a directory called 'gtsam', it means we found
+ # gtsam in the source tree, otherwise (probably 'lib') in an installed location.
+ if(_gtsam_lib_dir_name STREQUAL "gtsam")
+ get_filename_component(_gtsam_build_dir "${_gtsam_lib_dir}" PATH)
+ set(_gtsam_cppunitlite_dir "${_gtsam_build_dir}/CppUnitLite")
+ else()
+ set(_gtsam_cppunitlite_dir "${_gtsam_lib_dir}")
+ endif()
+endif()
+
+if(GTSAM_LIBS)
+ # Twice to get the build directory, not build/gtsam
+ get_filename_component(_gtsam_build_dir "${GTSAM_LIBS}" PATH)
+ get_filename_component(_gtsam_build_dir "${_gtsam_build_dir}" PATH)
+endif()
+
+# Find include dirs
+find_path(CppUnitLite_INCLUDE_DIR CppUnitLite/Test.h
+ PATHS "${GTSAM_INCLUDE_DIR}" ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" /usr/local/include /usr/include
+ DOC "CppUnitLite INCLUDE directories")
+
+# Find libraries
+find_library(CppUnitLite_LIBS NAMES CppUnitLite
+ HINTS "${_gtsam_cppunitlite_dir}" ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" /usr/local/lib /usr/lib
+ DOC "CppUnitLite libraries")
+
+# handle the QUIETLY and REQUIRED arguments and set CppUnitLite_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CppUnitLite DEFAULT_MSG
+ CppUnitLite_LIBS CppUnitLite_INCLUDE_DIR)
+
diff --git a/cmake/obsolete/FindGTSAM.cmake b/cmake/obsolete/FindGTSAM.cmake
new file mode 100644
index 000000000..895eb853b
--- /dev/null
+++ b/cmake/obsolete/FindGTSAM.cmake
@@ -0,0 +1,88 @@
+# This is FindGTSAM.cmake
+# DEPRECIATED: Use config file approach to pull in targets from gtsam
+# CMake module to locate the GTSAM package
+#
+# The following cache variables may be set before calling this script:
+#
+# GTSAM_DIR (or GTSAM_ROOT): (Optional) The install prefix OR source tree of gtsam (e.g. /usr/local or src/gtsam)
+# GTSAM_BUILD_NAME: (Optional) If compiling against a source tree, the name of the build directory
+# within it (e.g build-debug). Without this defined, this script tries to
+# intelligently find the build directory based on the project's build directory name
+# or based on the build type (Debug/Release/etc).
+#
+# The following variables will be defined:
+#
+# GTSAM_FOUND : TRUE if the package has been successfully found
+# GTSAM_INCLUDE_DIR : paths to GTSAM's INCLUDE directories
+# GTSAM_LIBS : paths to GTSAM's libraries
+#
+# NOTES on compiling against an uninstalled GTSAM build tree:
+# - A GTSAM source tree will be automatically searched for in the directory
+# 'gtsam' next to your project directory, after searching
+# CMAKE_INSTALL_PREFIX and $HOME, but before searching /usr/local and /usr.
+# - The build directory will be searched first with the same name as your
+# project's build directory, e.g. if you build from 'MyProject/build-optimized',
+# 'gtsam/build-optimized' will be searched first. Next, a build directory for
+# your project's build type, e.g. if CMAKE_BUILD_TYPE in your project is
+# 'Release', then 'gtsam/build-release' will be searched next. Finally, plain
+# 'gtsam/build' will be searched.
+# - You can control the gtsam build directory name directly by defining the CMake
+# cache variable 'GTSAM_BUILD_NAME', then only 'gtsam/${GTSAM_BUILD_NAME} will
+# be searched.
+# - Use the standard CMAKE_PREFIX_PATH, or GTSAM_DIR, to find a specific gtsam
+# directory.
+
+# Get path suffixes to help look for gtsam
+if(GTSAM_BUILD_NAME)
+ set(gtsam_build_names "${GTSAM_BUILD_NAME}/gtsam")
+else()
+ # lowercase build type
+ string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_suffix)
+ # build suffix of this project
+ get_filename_component(my_build_name "${CMAKE_BINARY_DIR}" NAME)
+
+ set(gtsam_build_names "${my_build_name}/gtsam" "build-${build_type_suffix}/gtsam" "build/gtsam")
+endif()
+
+# Use GTSAM_ROOT or GTSAM_DIR equivalently
+if(GTSAM_ROOT AND NOT GTSAM_DIR)
+ set(GTSAM_DIR "${GTSAM_ROOT}")
+endif()
+
+if(GTSAM_DIR)
+ # Find include dirs
+ find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h
+ PATHS "${GTSAM_DIR}/include" "${GTSAM_DIR}" NO_DEFAULT_PATH
+ DOC "GTSAM include directories")
+
+ # Find libraries
+ find_library(GTSAM_LIBS NAMES gtsam
+ HINTS "${GTSAM_DIR}/lib" "${GTSAM_DIR}" NO_DEFAULT_PATH
+ PATH_SUFFIXES ${gtsam_build_names}
+ DOC "GTSAM libraries")
+else()
+ # Find include dirs
+ set(extra_include_paths ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/include /usr/include)
+ find_path(GTSAM_INCLUDE_DIR gtsam/inference/FactorGraph.h
+ PATHS ${extra_include_paths}
+ DOC "GTSAM include directories")
+ if(NOT GTSAM_INCLUDE_DIR)
+ message(STATUS "Searched for gtsam headers in default paths plus ${extra_include_paths}")
+ endif()
+
+ # Find libraries
+ find_library(GTSAM_LIBS NAMES gtsam
+ HINTS ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/lib /usr/lib
+ PATH_SUFFIXES ${gtsam_build_names}
+ DOC "GTSAM libraries")
+endif()
+
+# handle the QUIETLY and REQUIRED arguments and set GTSAM_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GTSAM DEFAULT_MSG
+ GTSAM_LIBS GTSAM_INCLUDE_DIR)
+
+
+
+
diff --git a/cmake/obsolete/FindGTSAM_UNSTABLE.cmake b/cmake/obsolete/FindGTSAM_UNSTABLE.cmake
new file mode 100644
index 000000000..42cc9c8b0
--- /dev/null
+++ b/cmake/obsolete/FindGTSAM_UNSTABLE.cmake
@@ -0,0 +1,88 @@
+# This is FindGTSAM_UNSTABLE.cmake
+# DEPRECIATED: Use config file approach to pull in targets from gtsam
+# CMake module to locate the GTSAM_UNSTABLE package
+#
+# The following cache variables may be set before calling this script:
+#
+# GTSAM_UNSTABLE_DIR (or GTSAM_UNSTABLE_ROOT): (Optional) The install prefix OR source tree of gtsam_unstable (e.g. /usr/local or src/gtsam_unstable)
+# GTSAM_UNSTABLE_BUILD_NAME: (Optional) If compiling against a source tree, the name of the build directory
+# within it (e.g build-debug). Without this defined, this script tries to
+# intelligently find the build directory based on the project's build directory name
+# or based on the build type (Debug/Release/etc).
+#
+# The following variables will be defined:
+#
+# GTSAM_UNSTABLE_FOUND : TRUE if the package has been successfully found
+# GTSAM_UNSTABLE_INCLUDE_DIR : paths to GTSAM_UNSTABLE's INCLUDE directories
+# GTSAM_UNSTABLE_LIBS : paths to GTSAM_UNSTABLE's libraries
+#
+# NOTES on compiling against an uninstalled GTSAM_UNSTABLE build tree:
+# - A GTSAM_UNSTABLE source tree will be automatically searched for in the directory
+# 'gtsam_unstable' next to your project directory, after searching
+# CMAKE_INSTALL_PREFIX and $HOME, but before searching /usr/local and /usr.
+# - The build directory will be searched first with the same name as your
+# project's build directory, e.g. if you build from 'MyProject/build-optimized',
+# 'gtsam_unstable/build-optimized' will be searched first. Next, a build directory for
+# your project's build type, e.g. if CMAKE_BUILD_TYPE in your project is
+# 'Release', then 'gtsam_unstable/build-release' will be searched next. Finally, plain
+# 'gtsam_unstable/build' will be searched.
+# - You can control the gtsam build directory name directly by defining the CMake
+# cache variable 'GTSAM_UNSTABLE_BUILD_NAME', then only 'gtsam/${GTSAM_UNSTABLE_BUILD_NAME} will
+# be searched.
+# - Use the standard CMAKE_PREFIX_PATH, or GTSAM_UNSTABLE_DIR, to find a specific gtsam
+# directory.
+
+# Get path suffixes to help look for gtsam_unstable
+if(GTSAM_UNSTABLE_BUILD_NAME)
+ set(gtsam_unstable_build_names "${GTSAM_UNSTABLE_BUILD_NAME}/gtsam_unstable")
+else()
+ # lowercase build type
+ string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_suffix)
+ # build suffix of this project
+ get_filename_component(my_build_name "${CMAKE_BINARY_DIR}" NAME)
+
+ set(gtsam_unstable_build_names "${my_build_name}/gtsam_unstable" "build-${build_type_suffix}/gtsam_unstable" "build/gtsam_unstable")
+endif()
+
+# Use GTSAM_UNSTABLE_ROOT or GTSAM_UNSTABLE_DIR equivalently
+if(GTSAM_UNSTABLE_ROOT AND NOT GTSAM_UNSTABLE_DIR)
+ set(GTSAM_UNSTABLE_DIR "${GTSAM_UNSTABLE_ROOT}")
+endif()
+
+if(GTSAM_UNSTABLE_DIR)
+ # Find include dirs
+ find_path(GTSAM_UNSTABLE_INCLUDE_DIR gtsam_unstable/base/DSF.h
+ PATHS "${GTSAM_UNSTABLE_DIR}/include" "${GTSAM_UNSTABLE_DIR}" NO_DEFAULT_PATH
+ DOC "GTSAM_UNSTABLE include directories")
+
+ # Find libraries
+ find_library(GTSAM_UNSTABLE_LIBS NAMES gtsam_unstable
+ HINTS "${GTSAM_UNSTABLE_DIR}/lib" "${GTSAM_UNSTABLE_DIR}" NO_DEFAULT_PATH
+ PATH_SUFFIXES ${gtsam_unstable_build_names}
+ DOC "GTSAM_UNSTABLE libraries")
+else()
+ # Find include dirs
+ set(extra_include_paths ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/include /usr/include)
+ find_path(GTSAM_UNSTABLE_INCLUDE_DIR gtsam_unstable/base/DSF.h
+ PATHS ${extra_include_paths}
+ DOC "GTSAM_UNSTABLE include directories")
+ if(NOT GTSAM_UNSTABLE_INCLUDE_DIR)
+ message(STATUS "Searched for gtsam_unstable headers in default paths plus ${extra_include_paths}")
+ endif()
+
+ # Find libraries
+ find_library(GTSAM_UNSTABLE_LIBS NAMES gtsam_unstable
+ HINTS ${CMAKE_INSTALL_PREFIX}/lib "$ENV{HOME}/lib" "${PROJECT_SOURCE_DIR}/../gtsam" /usr/local/lib /usr/lib
+ PATH_SUFFIXES ${gtsam_unstable_build_names}
+ DOC "GTSAM_UNSTABLE libraries")
+endif()
+
+# handle the QUIETLY and REQUIRED arguments and set GTSAM_UNSTABLE_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GTSAM_UNSTABLE DEFAULT_MSG
+ GTSAM_UNSTABLE_LIBS GTSAM_UNSTABLE_INCLUDE_DIR)
+
+
+
+
diff --git a/cmake/obsolete/FindWrap.cmake b/cmake/obsolete/FindWrap.cmake
new file mode 100644
index 000000000..9d197f7a8
--- /dev/null
+++ b/cmake/obsolete/FindWrap.cmake
@@ -0,0 +1,41 @@
+# This is FindWrap.cmake
+# DEPRECIATED: Use config file approach to pull in targets from gtsam
+# CMake module to locate the Wrap tool and header after installation package
+# The following variables will be defined:
+#
+# Wrap_FOUND : TRUE if the package has been successfully found
+# Wrap_CMD : command for executing wrap
+# Wrap_INCLUDE_DIR : paths to Wrap's INCLUDE directories
+
+# If gtsam was found by a previous call to FindGTSAM, prefer to find the
+# wrap in the same place as that gtsam
+if(GTSAM_LIBS)
+ # Find the gtsam library path found by a previous call to FindGTSAM
+ get_filename_component(_gtsam_lib_dir "${GTSAM_LIBS}" PATH)
+ get_filename_component(_gtsam_lib_dir_name "${_gtsam_lib_dir}" NAME)
+ # If the gtsam library was in a directory called 'gtsam', it means we found
+ # gtsam in the source tree, otherwise (probably 'lib') in an installed location.
+ if(_gtsam_lib_dir_name STREQUAL "gtsam")
+ get_filename_component(_gtsam_build_dir "${_gtsam_lib_dir}" PATH)
+ set(_gtsam_wrap_dir "${_gtsam_build_dir}/wrap")
+ else()
+ set(_gtsam_wrap_dir "${_gtsam_lib_dir}/../bin")
+ endif()
+endif()
+
+# Find include dir
+find_path(Wrap_INCLUDE_DIR wrap/matlab.h
+ PATHS "${GTSAM_INCLUDE_DIR}" ${CMAKE_INSTALL_PREFIX}/include "$ENV{HOME}/include" /usr/local/include /usr/include
+ DOC "Wrap INCLUDE directories")
+
+# Find the installed executable
+find_program(Wrap_CMD NAMES wrap
+ PATHS "${_gtsam_wrap_dir}" ${CMAKE_INSTALL_PREFIX}/bin "$ENV{HOME}/bin" /usr/local/bin /usr/bin
+ DOC "Wrap executable location")
+
+# handle the QUIETLY and REQUIRED arguments and set Wrap_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Wrap DEFAULT_MSG
+ Wrap_CMD Wrap_INCLUDE_DIR)
+
diff --git a/doc/math.lyx b/doc/math.lyx
index 05eb355ad..8d56963cb 100644
--- a/doc/math.lyx
+++ b/doc/math.lyx
@@ -885,7 +885,39 @@ H_{a}=G_{f(a)}F_{a}
\end_inset
+where
+\begin_inset Formula $G_{f(a)}$
+\end_inset
+ is the
+\begin_inset Formula $m\times p$
+\end_inset
+
+ Jacobian matrix of
+\begin_inset Formula $g$
+\end_inset
+
+ evaluated at
+\begin_inset Formula $f(a)$
+\end_inset
+
+, and
+\begin_inset Formula $F_{a}$
+\end_inset
+
+ is the
+\begin_inset Formula $p\times n$
+\end_inset
+
+ Jacobian matrix of
+\begin_inset Formula $f$
+\end_inset
+
+ evaluated at
+\begin_inset Formula $a$
+\end_inset
+
+.
\end_layout
\begin_layout Proof
@@ -1521,7 +1553,7 @@ name "th:Action"
\end_inset
The Jacobian matrix of the group action
-\begin_inset Formula $f(T,P)=Tp$
+\begin_inset Formula $f(T,p)=Tp$
\end_inset
at
@@ -2811,6 +2843,12 @@ B^{T} & I_{3}\end{array}\right]
\end_layout
\begin_layout Subsection
+\begin_inset CommandInset label
+LatexCommand label
+name "sub:Pushforward-of-Between"
+
+\end_inset
+
Pushforward of Between
\end_layout
@@ -3378,27 +3416,14 @@ BetweenFactor
\end_layout
\begin_layout Standard
-BetweenFactor is often used to summarize
-\end_layout
-\begin_layout Standard
-Theorem
-\begin_inset CommandInset ref
-LatexCommand ref
-reference "D-exp"
-
-\end_inset
-
- about the derivative of the exponential map
-\begin_inset Formula $f:\xi\mapsto\exp\xihat$
-\end_inset
-
- being identity only at
-\begin_inset Formula $\xi=0$
-\end_inset
-
- has implications for GTSAM.
- Given two elements
+\series bold
+\emph on
+BetweenFactor
+\series default
+\emph default
+ is a factor in GTSAM that is used ubiquitously to process measurements
+ indicating the relative pose between two unknown poses
\begin_inset Formula $T_{1}$
\end_inset
@@ -3406,15 +3431,104 @@ reference "D-exp"
\begin_inset Formula $T_{2}$
\end_inset
-, BetweenFactor evaluates
+.
+ Let us assume the measured relative pose is
+\begin_inset Formula $Z$
+\end_inset
+
+, then the code that calculates the error in
+\series bold
+\emph on
+BetweenFactor
+\series default
+\emph default
+ first calculates the predicted relative pose
+\begin_inset Formula $T_{12}$
+\end_inset
+
+, and then evaluates the error between the measured and predicted relative
+ pose:
+\end_layout
+
+\begin_layout LyX-Code
+T12 = between(T1, T2);
+\end_layout
+
+\begin_layout LyX-Code
+return localCoordinates(Z, T12);
+\end_layout
+
+\begin_layout Standard
+where we recall that the function
+\series bold
+\emph on
+between
+\series default
+\emph default
+ is given in group theoretic notation as
\begin_inset Formula
\[
-g(T_{1},T_{2};Z)=f^{-1}\left(\mathop{between}(Z,\mathop{between}(T_{1},T_{2})\right)=f^{-1}\left(Z^{-1}\left(T_{1}^{-1}T_{2}\right)\right)
+\varphi(g,h)=g^{-1}h
\]
\end_inset
-but because it is assumed that
+The function
+\series bold
+\emph on
+localCoordinates
+\series default
+\emph default
+ itself also calls
+\series bold
+\emph on
+between
+\series default
+\emph default
+, and converts to canonical coordinates:
+\end_layout
+
+\begin_layout LyX-Code
+localCoordinates(Z,T12) = Logmap(between(Z, T12));
+\end_layout
+
+\begin_layout Standard
+Hence, given two elements
+\begin_inset Formula $T_{1}$
+\end_inset
+
+ and
+\begin_inset Formula $T_{2}$
+\end_inset
+
+,
+\series bold
+\emph on
+BetweenFactor
+\series default
+\emph default
+ evaluates
+\begin_inset Formula $g:G\times G\rightarrow\Reals n$
+\end_inset
+
+,
+\begin_inset Formula
+\[
+g(T_{1},T_{2};Z)=f^{-1}\left(\varphi(Z,\varphi(T_{1},T_{2})\right)=f^{-1}\left(Z^{-1}\left(T_{1}^{-1}T_{2}\right)\right)
+\]
+
+\end_inset
+
+where
+\begin_inset Formula $f^{-1}$
+\end_inset
+
+ is the inverse of the map
+\begin_inset Formula $f:\xi\mapsto\exp\xihat$
+\end_inset
+
+.
+ If we assume that the measurement has only small error, then
\begin_inset Formula $Z\approx T_{1}^{-1}T_{2}$
\end_inset
@@ -3422,12 +3536,49 @@ but because it is assumed that
\begin_inset Formula $Z^{-1}T_{1}^{-1}T_{2}\approx e$
\end_inset
- and the derivative should be good there.
- Note that the derivative of
+, and we can invoke Theorem
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "D-exp"
+
+\end_inset
+
+, which says that the derivative of the exponential map
+\begin_inset Formula $f:\xi\mapsto\exp\xihat$
+\end_inset
+
+ is identity at
+\begin_inset Formula $\xi=0$
+\end_inset
+
+, as well as its inverse.
+\end_layout
+
+\begin_layout Standard
+Finally, because the derivative of
+\series bold
\emph on
between
+\series default
\emph default
- is identity in its second argument.
+ is identity in its second argument, the derivative of the
+\series bold
+\emph on
+BetweenFactor
+\series default
+\emph default
+ error is identical to the derivative of pushforward of
+\begin_inset Formula $\varphi(T_{1},T_{2})$
+\end_inset
+
+, derived in Section
+\begin_inset CommandInset ref
+LatexCommand ref
+reference "sub:Pushforward-of-Between"
+
+\end_inset
+
+.
\end_layout
\begin_layout Section
diff --git a/doc/math.pdf b/doc/math.pdf
index eb429095c..9b1046f68 100644
Binary files a/doc/math.pdf and b/doc/math.pdf differ
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 7116ae060..1c38616a4 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -18,7 +18,7 @@ foreach(example_src ${example_srcs} )
set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
endif()
- target_link_libraries(${example_bin} ${gtsam-default})
+ target_link_libraries(${example_bin} ${gtsam-default} ${Boost_PROGRAM_OPTIONS_LIBRARY})
if(NOT MSVC)
add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
endif()
diff --git a/examples/Data/KittiEquivBiasedImu.txt b/examples/Data/KittiEquivBiasedImu.txt
new file mode 100644
index 000000000..3db3dc8a9
--- /dev/null
+++ b/examples/Data/KittiEquivBiasedImu.txt
@@ -0,0 +1,46969 @@
+Time dt accelX accelY accelZ omegaX omegaY omegaZ
+46534.47837579 46534.47837579 1.7114864219577 0.1717911743144 9.80533438749 -0.0032006241515747 0.031231284764596 -0.0063569265706488
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diff --git a/examples/Data/KittiEquivBiasedImu_metadata.txt b/examples/Data/KittiEquivBiasedImu_metadata.txt
new file mode 100644
index 000000000..8f0a8a578
--- /dev/null
+++ b/examples/Data/KittiEquivBiasedImu_metadata.txt
@@ -0,0 +1,2 @@
+BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz AccelerometerSigma GyroscopeSigma IntegrationSigma AccelerometerBiasSigma GyroscopeBiasSigma AverageDeltaT
+0 0 0 0 0 0 0.01 0.000175 0 0.000167 2.91e-006 0.0100395199348279
diff --git a/examples/Data/KittiGps_converted.txt b/examples/Data/KittiGps_converted.txt
new file mode 100644
index 000000000..c53d38cd0
--- /dev/null
+++ b/examples/Data/KittiGps_converted.txt
@@ -0,0 +1,471 @@
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diff --git a/examples/Data/Plaza1_.mat b/examples/Data/Plaza1_.mat
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index 000000000..806069a8c
Binary files /dev/null and b/examples/Data/Plaza1_.mat differ
diff --git a/examples/Data/Plaza1_DR.txt b/examples/Data/Plaza1_DR.txt
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index 000000000..b97ec83c5
--- /dev/null
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diff --git a/examples/Data/Plaza1_TD.txt b/examples/Data/Plaza1_TD.txt
new file mode 100755
index 000000000..cbf962eca
--- /dev/null
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diff --git a/examples/Data/Plaza2_.mat b/examples/Data/Plaza2_.mat
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diff --git a/examples/Data/Plaza2_DR.txt b/examples/Data/Plaza2_DR.txt
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diff --git a/examples/Data/Plaza2_TD.txt b/examples/Data/Plaza2_TD.txt
new file mode 100644
index 000000000..ff80b9492
--- /dev/null
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