12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added a variety of options to the cmake build, working on automating wrap execution/install

release/4.3a0
Alex Cunningham 2012-01-31 19:59:15 +00:00
parent b92e4a08dc
commit c43a9b4852
13 changed files with 432 additions and 361 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

215
.cproject
View File

@ -258,14 +258,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -292,6 +284,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -299,6 +292,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -346,6 +340,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -353,6 +348,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -360,6 +356,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -375,11 +372,20 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -406,7 +412,6 @@
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -478,7 +483,6 @@
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -486,7 +490,6 @@
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -494,7 +497,6 @@
</target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -502,7 +504,6 @@
</target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -510,7 +511,6 @@
</target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -580,22 +580,6 @@
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -612,6 +596,22 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -636,7 +636,15 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
@ -644,6 +652,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -684,15 +700,7 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
@ -700,14 +708,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1038,6 +1038,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1493,7 +1494,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1533,7 +1533,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1541,7 +1540,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1898,14 +1896,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrapmac_gtsam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>wrapmac_gtsam</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2156,7 +2146,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2178,6 +2167,46 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2274,23 +2303,7 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
@ -2298,18 +2311,26 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="clean" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
@ -2362,38 +2383,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cproject>

21
CMakeLists.txt
View File

@ -1,7 +1,7 @@
project(GTSAM CXX C)
cmake_minimum_required(VERSION 2.6)
# Set the version number for the libarary
# Set the version number for the library
set (GTSAM_VERSION_MAJOR 0)
set (GTSAM_VERSION_MINOR 9)
set (GTSAM_VERSION_PATCH 3)
@ -24,12 +24,21 @@ if( NOT cmake_build_type_tolower STREQUAL "debug"
endif()
# Add debugging flags
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG -DEIGEN_NO_DEBUG")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG -DEIGEN_NO_DEBUG")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DNDEBUG -Wall -DEIGEN_NO_DEBUG")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -Wall -DEIGEN_NO_DEBUG")
# Configurable Options
# TODO
option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON)
option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
# Avoid building non-installed exes and unit tests when installing
set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
# Pull in tests
enable_testing()
@ -62,7 +71,11 @@ add_subdirectory(gtsam)
add_subdirectory(tests)
# Build wrap
add_subdirectory(wrap)
if (GTSAM_BUILD_WRAP)
add_subdirectory(wrap)
endif(GTSAM_BUILD_WRAP)
# Build examples
add_subdirectory(examples)
if (GTSAM_BUILD_EXAMPLES)
add_subdirectory(examples)
endif(GTSAM_BUILD_EXAMPLES)

7
CppUnitLite/CMakeLists.txt
View File

@ -5,5 +5,8 @@ FILE(GLOB cppunitlite_src "*.cpp")
ADD_LIBRARY(CppUnitLite STATIC ${cppunitlite_src})
install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
install(TARGETS CppUnitLite ARCHIVE DESTINATION lib)
option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON)
if (GTSAM_INSTALL_CPPUNITLITE)
install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
install(TARGETS CppUnitLite ARCHIVE DESTINATION lib)
endif(GTSAM_INSTALL_CPPUNITLITE)

12
examples/CMakeLists.txt
View File

@ -1,15 +1,3 @@
#set(examples_local_libs
# slam
# nonlinear
# linear
# inference
# geometry
# base
# ccolamd
# CppUnitLite
# ${Boost_LIBRARIES}
#)
add_custom_target(examples)
# Build example executables

22
gtsam/CMakeLists.txt
View File

@ -44,15 +44,17 @@ set(gtsam_srcs
${nonlinear_srcs}
${slam_srcs}
)
option (GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
# Versions
set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
message(STATUS "GTSAM Version: ${gtsam_version}")
message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
# build shared and static versions of the library
message(STATUS "Building GTSAM - static")
#message(STATUS "GTSAM library sources ${gtsam_srcs}")
add_library(gtsam-static STATIC ${gtsam_srcs})
set_target_properties(gtsam-static PROPERTIES
OUTPUT_NAME gtsam
@ -61,12 +63,14 @@ set_target_properties(gtsam-static PROPERTIES
SOVERSION ${gtsam_soversion})
install(TARGETS gtsam-static ARCHIVE DESTINATION lib)
message(STATUS "Building GTSAM - shared")
add_library(gtsam-shared SHARED ${gtsam_srcs})
set_target_properties(gtsam-shared PROPERTIES
OUTPUT_NAME gtsam
CLEAN_DIRECT_OUTPUT 1
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})
install(TARGETS gtsam-shared LIBRARY DESTINATION lib )
if (GTSAM_BUILD_SHARED_LIBRARY)
message(STATUS "Building GTSAM - shared")
add_library(gtsam-shared SHARED ${gtsam_srcs})
set_target_properties(gtsam-shared PROPERTIES
OUTPUT_NAME gtsam
CLEAN_DIRECT_OUTPUT 1
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})
install(TARGETS gtsam-shared LIBRARY DESTINATION lib )
endif(GTSAM_BUILD_SHARED_LIBRARY)

55
gtsam/base/CMakeLists.txt
View File

@ -2,9 +2,6 @@
file(GLOB base_headers "*.h")
install(FILES ${base_headers} DESTINATION include/gtsam/base)
add_custom_target(check.base COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.base)
# Components to link tests in this subfolder against
set(base_local_libs
CppUnitLite
@ -12,29 +9,35 @@ set(base_local_libs
)
# Build tests
file(GLOB base_tests_srcs "tests/test*.cpp")
foreach(test_src ${base_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin base.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.base ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${base_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.base COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB base_tests_srcs "tests/test*.cpp")
foreach(test_src ${base_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin base.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.base ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${base_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif(GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB base_timing_srcs "tests/time*.cpp")
foreach(time_src ${base_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin base.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.base ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${base_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.base)
file(GLOB base_timing_srcs "tests/time*.cpp")
foreach(time_src ${base_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin base.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.base ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${base_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif(GTSAM_BUILD_TIMING)

55
gtsam/geometry/CMakeLists.txt
View File

@ -5,9 +5,6 @@ add_dependencies(geometry base)
file(GLOB geometry_headers "*.h")
install(FILES ${geometry_headers} DESTINATION include/gtsam/geometry)
add_custom_target(check.geometry COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.geometry)
# Components to link tests in this subfolder against
set(geometry_local_libs
geometry
@ -16,29 +13,35 @@ set(geometry_local_libs
)
# Build tests
file(GLOB geometry_tests_srcs "tests/test*.cpp")
foreach(test_src ${geometry_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin geometry.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.geometry ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${geometry_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.geometry COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB geometry_tests_srcs "tests/test*.cpp")
foreach(test_src ${geometry_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin geometry.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.geometry ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${geometry_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif(GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB geometry_timing_srcs "tests/time*.cpp")
foreach(time_src ${geometry_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin geometry.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.geometry ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${geometry_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.geometry)
file(GLOB geometry_timing_srcs "tests/time*.cpp")
foreach(time_src ${geometry_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin geometry.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.geometry ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${geometry_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif(GTSAM_BUILD_TIMING)

55
gtsam/inference/CMakeLists.txt
View File

@ -5,9 +5,6 @@ add_dependencies(inference base)
file(GLOB inference_headers "*.h")
install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
add_custom_target(check.inference COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.inference)
# Components to link tests in this subfolder against
set(inference_local_libs
inference
@ -18,29 +15,35 @@ set(inference_local_libs
)
# Build tests
file(GLOB inference_tests_srcs "tests/test*.cpp")
foreach(test_src ${inference_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin inference.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.inference ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${inference_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if(GTSAM_BUILD_TESTS)
add_custom_target(check.inference COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB inference_tests_srcs "tests/test*.cpp")
foreach(test_src ${inference_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin inference.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.inference ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${inference_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif(GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB inference_timing_srcs "tests/time*.cpp")
foreach(time_src ${inference_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin inference.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.inference ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${inference_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if(GTSAM_BUILD_TIMING)
add_custom_target(timing.inference)
file(GLOB inference_timing_srcs "tests/time*.cpp")
foreach(time_src ${inference_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin inference.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.inference ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${inference_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif(GTSAM_BUILD_TIMING)

56
gtsam/linear/CMakeLists.txt
View File

@ -5,9 +5,6 @@ add_dependencies(linear inference)
file(GLOB linear_headers "*.h")
install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
add_custom_target(check.linear COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.linear)
# Components to link tests in this subfolder against
set(linear_local_libs
linear
@ -19,29 +16,34 @@ set(linear_local_libs
)
# Build tests
file(GLOB linear_tests_srcs "tests/test*.cpp")
foreach(test_src ${linear_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin linear.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.linear ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${linear_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.linear COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB linear_tests_srcs "tests/test*.cpp")
foreach(test_src ${linear_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin linear.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.linear ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${linear_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif (GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB linear_timing_srcs "tests/time*.cpp")
foreach(time_src ${linear_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin linear.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.linear ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${linear_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.linear)
file(GLOB linear_timing_srcs "tests/time*.cpp")
foreach(time_src ${linear_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin linear.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.linear ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${linear_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif (GTSAM_BUILD_TIMING)

55
gtsam/nonlinear/CMakeLists.txt
View File

@ -5,9 +5,6 @@ add_dependencies(nonlinear linear)
file(GLOB nonlinear_headers "*.h")
install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
add_custom_target(check.nonlinear COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.nonlinear)
# Components to link tests in this subfolder against
set(nonlinear_local_libs
nonlinear
@ -20,29 +17,35 @@ set(nonlinear_local_libs
)
# Build tests
file(GLOB nonlinear_tests_srcs "tests/test*.cpp")
foreach(test_src ${nonlinear_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin nonlinear.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.nonlinear ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${nonlinear_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.nonlinear COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB nonlinear_tests_srcs "tests/test*.cpp")
foreach(test_src ${nonlinear_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin nonlinear.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.nonlinear ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${nonlinear_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif (GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB nonlinear_timing_srcs "tests/time*.cpp")
foreach(time_src ${nonlinear_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin nonlinear.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.nonlinear ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${nonlinear_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.nonlinear)
file(GLOB nonlinear_timing_srcs "tests/time*.cpp")
foreach(time_src ${nonlinear_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin nonlinear.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.nonlinear ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${nonlinear_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif (GTSAM_BUILD_TIMING)

56
gtsam/slam/CMakeLists.txt
View File

@ -5,9 +5,6 @@ add_dependencies(slam nonlinear)
file(GLOB slam_headers "*.h")
install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
add_custom_target(check.slam COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.slam)
# Components to link tests in this subfolder against
set(slam_local_libs
slam
@ -21,29 +18,34 @@ set(slam_local_libs
)
# Build tests
file(GLOB slam_tests_srcs "tests/test*.cpp")
foreach(test_src ${slam_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin slam.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.slam ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${slam_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.slam COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB slam_tests_srcs "tests/test*.cpp")
foreach(test_src ${slam_tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin slam.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.slam ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} ${slam_local_libs})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif (GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB slam_timing_srcs "tests/time*.cpp")
foreach(time_src ${slam_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin slam.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.slam ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${slam_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.slam)
file(GLOB slam_timing_srcs "tests/time*.cpp")
foreach(time_src ${slam_timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin slam.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.slam ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} ${slam_local_libs})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif (GTSAM_BUILD_TIMING)

56
tests/CMakeLists.txt
View File

@ -1,30 +1,32 @@
# Convenience targets
add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
add_custom_target(timing.tests)
# Build tests
file(GLOB tests_srcs "test*.cpp")
foreach(test_src ${tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin tests.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.tests ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} gtsam-static CppUnitLite ${Boost_LIBRARIES})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB tests_srcs "test*.cpp")
foreach(test_src ${tests_srcs})
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin tests.${test_base} )
message(STATUS "Adding Test ${test_bin}")
add_executable(${test_bin} ${test_src})
add_dependencies(check.tests ${test_bin})
add_dependencies(check ${test_bin})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
target_link_libraries(${test_bin} gtsam-static CppUnitLite ${Boost_LIBRARIES})
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif (GTSAM_BUILD_TESTS)
# Build timing scripts
file(GLOB timing_srcs "time*.cpp")
foreach(time_src ${timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin tests.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.tests ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} gtsam-static CppUnitLite ${Boost_LIBRARIES})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
if (GTSAM_BUILD_TIMING)
add_custom_target(timing.tests)
file(GLOB timing_srcs "time*.cpp")
foreach(time_src ${timing_srcs})
get_filename_component(time_base ${time_src} NAME_WE)
set( time_bin tests.${time_base} )
message(STATUS "Adding Timing Benchmark ${time_bin}")
add_executable(${time_bin} ${time_src})
add_dependencies(timing.tests ${time_bin})
add_dependencies(timing ${time_bin})
target_link_libraries(${time_bin} gtsam-static CppUnitLite ${Boost_LIBRARIES})
add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
endforeach(time_src)
endif (GTSAM_BUILD_TIMING)

128
wrap/CMakeLists.txt
View File

@ -8,27 +8,30 @@ add_executable(wrap wrap.cpp)
target_link_libraries(wrap wrap_lib)
# Install wrap binary
install(TARGETS wrap DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
if (GTSAM_INSTALL_WRAP)
install(TARGETS wrap DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
endif(GTSAM_INSTALL_WRAP)
# Install matlab header
install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/wrap)
# Build tests
add_custom_target(check.wrap COMMAND ${CMAKE_CTEST_COMMAND})
# Build tests
file(GLOB wrap_test_srcs "tests/test*.cpp")
add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
foreach(test_src ${wrap_test_srcs} )
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin wrap.${test_base} )
add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
add_dependencies(check ${test_bin})
add_dependencies(check.wrap ${test_bin})
target_link_libraries(${test_bin} CppUnitLite gtsam-static wrap_lib)
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
if (GTSAM_BUILD_TESTS)
add_custom_target(check.wrap COMMAND ${CMAKE_CTEST_COMMAND})
file(GLOB wrap_test_srcs "tests/test*.cpp")
add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
foreach(test_src ${wrap_test_srcs} )
get_filename_component(test_base ${test_src} NAME_WE)
set( test_bin wrap.${test_base} )
add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
add_dependencies(check ${test_bin})
add_dependencies(check.wrap ${test_bin})
target_link_libraries(${test_bin} CppUnitLite gtsam-static wrap_lib)
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
endforeach(test_src)
endif(GTSAM_BUILD_TESTS)
# Wrap codegen
#usage: wrap mexExtension interfacePath moduleName toolboxPath
@ -38,31 +41,84 @@ endforeach(test_src)
# toolboxPath : the directory in which to generate the wrappers
# [mexFlags] : extra flags for the mex command
set(gtsam_matlab_toolbox ${CMAKE_INSTALL_PREFIX}/borg/toolbox)
set(mexFlags "${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_BINARY_DIR} -lgtsam")
set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam")
set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
set(moduleName gtsam)
## Determine the mex extension
# Apple Macintosh (64-bit) mexmaci64
# Linux (32-bit) mexglx
# Linux (64-bit) mexa64
# Microsoft Windows (32-bit) mexw32
# Windows (64-bit) mexw64
# only support 64-bit apple
if(CMAKE_HOST_APPLE)
set(mex_bin_extension_default mexmaci64)
endif(CMAKE_HOST_APPLE)
if(NOT CMAKE_HOST_APPLE)
# check 64 bit
if( ${CMAKE_SIZEOF_VOID_P} EQUAL 4 )
set( HAVE_64_BIT 0 )
endif( ${CMAKE_SIZEOF_VOID_P} EQUAL 4 )
if( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
set( HAVE_64_BIT 1 )
endif( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
# Check for linux machines
if (CMAKE_HOST_UNIX)
if (HAVE_64_BIT)
set(mex_bin_extension_default mexa64)
else (HAVE_64_BIT)
set(mex_bin_extension_default mexglx)
endif (HAVE_64_BIT)
endif(CMAKE_HOST_UNIX)
# Check for windows machines
if (CMAKE_HOST_WIN32)
if (HAVE_64_BIT)
set(mex_bin_extension_default mexw64)
else (HAVE_64_BIT)
set(mex_bin_extension_default mexw32)
endif (HAVE_64_BIT)
endif(CMAKE_HOST_WIN32)
endif(NOT CMAKE_HOST_APPLE)
# Allow for setting mex extension manually
set(mex_bin_extension ${mex_bin_extension_default} CACHE DOCSTRING "Extension for matlab mex files")
message(STATUS "Detected Matlab mex extension: ${mex_bin_extension_default}")
message(STATUS "Current Matlab mex extension: ${mex_bin_extension}")
# Actual build commands - separated by OS
# FIXME: use mexext utility or flags to set this variable correctly
add_custom_target(wrap_gtsam COMMAND
./wrap mexa64 ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
add_custom_target(wrapmac_gtsam COMMAND
./wrap mexmaci64 ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
./wrap ${mex_bin_extension} ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
# Install toolbox
# FIXME: parameterize this install path
set(toolbox_install_path ${CMAKE_INSTALL_PREFIX}/borg/toolbox)
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
# Primary toolbox files
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.m")
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.cpp")
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "Makefile")
set(toolbox_install_path ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
# Examples
file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
install(FILES ${matlab_examples} DESTINATION ${toolbox_install_path}/gtsam/examples)
# Tests
file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
install(FILES ${matlab_tests} DESTINATION ${toolbox_install_path}/gtsam/tests)
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Primary toolbox files
message(STATUS "Installing Matlab Toolbox to ${toolbox_install_path}")
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.m")
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.cpp")
install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "Makefile")
# Examples
if (GTSAM_INSTALL_MATLAB_EXAMPLES)
message(STATUS "Installing Matlab Toolbox Examples")
file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
install(FILES ${matlab_examples} DESTINATION ${toolbox_install_path}/gtsam/examples)
endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
# Tests
if (GTSAM_INSTALL_MATLAB_TESTS)
message(STATUS "Installing Matlab Toolbox Tests")
file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
install(FILES ${matlab_tests} DESTINATION ${toolbox_install_path}/gtsam/tests)
endif (GTSAM_INSTALL_MATLAB_TESTS)
endif (GTSAM_INSTALL_MATLAB_TOOLBOX)