diff --git a/.cproject b/.cproject index 45011fdf4..4de095933 100644 --- a/.cproject +++ b/.cproject @@ -258,14 +258,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -292,6 +284,7 @@ make + tests/testBayesTree.run true false @@ -299,6 +292,7 @@ make + testBinaryBayesNet.run true false @@ -346,6 +340,7 @@ make + testSymbolicBayesNet.run true false @@ -353,6 +348,7 @@ make + tests/testSymbolicFactor.run true false @@ -360,6 +356,7 @@ make + testSymbolicFactorGraph.run true false @@ -375,11 +372,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -406,7 +412,6 @@ make - testGraph.run true false @@ -478,7 +483,6 @@ make - testInference.run true false @@ -486,7 +490,6 @@ make - testGaussianFactor.run true false @@ -494,7 +497,6 @@ make - testJunctionTree.run true false @@ -502,7 +504,6 @@ make - testSymbolicBayesNet.run true false @@ -510,7 +511,6 @@ make - testSymbolicFactorGraph.run true false @@ -580,22 +580,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -612,6 +596,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -636,7 +636,15 @@ true true - + + make + -j2 + all + true + true + true + + make -j2 check @@ -644,6 +652,14 @@ true true + + make + -j2 + clean + true + true + true + make -j2 @@ -684,15 +700,7 @@ true true - - make - -j2 - all - true - true - true - - + make -j2 check @@ -700,14 +708,6 @@ true true - - make - -j2 - clean - true - true - true - make -j2 @@ -1038,6 +1038,7 @@ make + testErrors.run true false @@ -1493,7 +1494,6 @@ make - testSimulated2DOriented.run true false @@ -1533,7 +1533,6 @@ make - testSimulated2D.run true false @@ -1541,7 +1540,6 @@ make - testSimulated3D.run true false @@ -1898,14 +1896,6 @@ true true - - make - -j2 - wrapmac_gtsam - true - true - true - make -j2 @@ -2156,7 +2146,6 @@ make - tests/testGaussianISAM2 true false @@ -2178,6 +2167,46 @@ true true + + make + -j2 + install + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + all + true + true + true + + + make + -j2 + dist + true + true + true + make -j2 @@ -2274,23 +2303,7 @@ true true - - make - -j2 - install - true - true - true - - - make - -j2 - clean - true - true - true - - + make -j2 check @@ -2298,18 +2311,26 @@ true true - + make -j2 - all + clean true true true - + make -j2 - dist + install + true + true + true + + + make + -j2 + all true true true @@ -2362,38 +2383,6 @@ true true - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - install - true - true - true - - - make - -j2 - all - true - true - true - diff --git a/CMakeLists.txt b/CMakeLists.txt index 7e57d645c..5cb4aca22 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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) diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index 6fba22eac..6bd5446f9 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -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) diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 7589e4ba0..27f85b2f7 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -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 diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 51e9eef4b..71cf8448b 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -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) diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt index 6c788d9c8..e6818b787 100644 --- a/gtsam/base/CMakeLists.txt +++ b/gtsam/base/CMakeLists.txt @@ -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) diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt index 9decf7fa5..2b4635638 100644 --- a/gtsam/geometry/CMakeLists.txt +++ b/gtsam/geometry/CMakeLists.txt @@ -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) diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt index f1b671ea2..158ce706e 100644 --- a/gtsam/inference/CMakeLists.txt +++ b/gtsam/inference/CMakeLists.txt @@ -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) diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt index 1a5aea09b..49438c5c9 100644 --- a/gtsam/linear/CMakeLists.txt +++ b/gtsam/linear/CMakeLists.txt @@ -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) diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt index b489b7ba6..070d88da4 100644 --- a/gtsam/nonlinear/CMakeLists.txt +++ b/gtsam/nonlinear/CMakeLists.txt @@ -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) diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt index cc9e2c73d..7bce4f369 100644 --- a/gtsam/slam/CMakeLists.txt +++ b/gtsam/slam/CMakeLists.txt @@ -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) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 234c321d3..530dd54d2 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -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) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 4f855386f..95e731778 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -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)