now can build and install with cmake
Duy-Nguyen Ta
parent
003f698503
commit
c54753d106
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@ -73,11 +73,12 @@ option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_INSTALL_CYTHON_TOOLBOX "Enable/Disable installation of Cython toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab/cython wrap utility (necessary for matlab/cython interface)" ON)
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# Check / set dependent variables for MATLAB wrapper
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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@ -378,6 +379,11 @@ if (GTSAM_BUILD_PYTHON)
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endif()
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# Cython wrap
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if (GTSAM_INSTALL_CYTHON_TOOLBOX)
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add_subdirectory(cython)
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endif()
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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add_subdirectory(gtsam_unstable)
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@ -509,6 +515,10 @@ endif()
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if(GTSAM_BUILD_PYTHON)
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message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}")
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endif()
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message(STATUS "Cython toolbox flags ")
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print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ")
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print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
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message(STATUS "===============================================================")
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# Print warnings at the end
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@ -0,0 +1,136 @@
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# Set up cache options
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set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_cython")
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if(NOT GTSAM_CYTHON_INSTALL_PATH)
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set(GTSAM_CYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_cython")
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endif()
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# User-friendly wrapping function. Builds a mex module from the provided
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# interfaceHeader. For example, for the interface header gtsam.h,
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# this will build the wrap module 'gtsam'.
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#
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# Arguments:
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#
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# interfaceHeader: The relative path to the wrapper interface definition file.
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# linkLibraries: Any *additional* libraries to link. Your project library
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# (e.g. `lba`), libraries it depends on, and any necessary
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# MATLAB libraries will be linked automatically. So normally,
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# leave this empty.
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# extraIncludeDirs: Any *additional* include paths required by dependent
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# libraries that have not already been added by
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# include_directories. Again, normally, leave this empty.
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function(wrap_and_install_library_cython interfaceHeader linkLibraries extraIncludeDirs)
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wrap_library_internal_cython("${interfaceHeader}" "${linkLibraries}" "${extraIncludeDirs}")
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install_wrapped_library_internal_cython("${interfaceHeader}")
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endfunction()
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# Internal function that wraps a library and compiles the wrapper
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function(wrap_library_internal_cython interfaceHeader linkLibraries extraIncludeDirs)
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# Wrap codegen interface
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#usage: wrap --cython interfacePath moduleName toolboxPath headerPath
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# headerPath : path to matlab.h
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# Extract module name from interface header file name
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get_filename_component(interfaceHeader "${interfaceHeader}" ABSOLUTE)
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get_filename_component(modulePath "${interfaceHeader}" PATH)
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get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
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# Paths for generated files
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set(generated_files_path "${PROJECT_BINARY_DIR}/cython/${moduleName}")
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set(generated_cpp_file "${generated_files_path}/${moduleName}.cpp")
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message(STATUS "Building wrap module ${moduleName}")
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# Set up generation of module source file
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file(MAKE_DIRECTORY "${generated_files_path}")
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configure_file(../cython/setup.py.in ${generated_files_path}/setup.py)
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add_custom_command(
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OUTPUT ${generated_cpp_file}
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DEPENDS ${interfaceHeader} wrap ${module_library_target}
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COMMAND
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wrap --cython
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${modulePath}
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${moduleName}
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${generated_files_path}
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.
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&& python setup.py build_ext --inplace
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VERBATIM
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WORKING_DIRECTORY ${generated_files_path})
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# Set up building of mex module
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add_custom_target(${moduleName}_cython_wrapper ALL DEPENDS ${generated_cpp_file} ${interfaceHeader})
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add_custom_target(wrap_${moduleName}_cython_distclean
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COMMAND cmake -E remove_directory ${generated_files_path})
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endfunction()
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# Internal function that installs a wrap toolbox
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function(install_wrapped_library_internal_cython interfaceHeader)
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get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
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set(generated_files_path "${PROJECT_BINARY_DIR}/cython/${moduleName}")
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# NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name
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# here prevents creating the top-level module name directory in the destination.
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message(STATUS "Installing Cython Toolbox to ${GTSAM_CYTHON_INSTALL_PATH}")
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
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get_filename_component(location "${GTSAM_CYTHON_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_CYTHON_INSTALL_PATH}" NAME)
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install(DIRECTORY "${generated_files_path}/../" DESTINATION "${location}/${name}${build_type_tag}"
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CONFIGURATIONS "${build_type}"
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PATTERN "build" EXCLUDE
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PATTERN "CMakeFiles" EXCLUDE
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PATTERN "Makefile" EXCLUDE
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PATTERN "*.cmake" EXCLUDE
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PATTERN "*.cpp" EXCLUDE
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PATTERN "*.py" EXCLUDE)
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endforeach()
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else()
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install(DIRECTORY "${generated_files_path}/../" DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}
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PATTERN "build" EXCLUDE
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PATTERN "CMakeFiles" EXCLUDE
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PATTERN "Makefile" EXCLUDE
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PATTERN "*.cmake" EXCLUDE
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PATTERN "*.cpp" EXCLUDE
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PATTERN "*.py" EXCLUDE)
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endif()
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endfunction()
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# Helper function to install Cython scripts and handle multiple build types where the scripts
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# should be installed to all build type toolboxes
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function(install_cython_scripts source_directory patterns)
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set(patterns_args "")
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set(exclude_patterns "")
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foreach(pattern ${patterns})
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list(APPEND patterns_args PATTERN "${pattern}")
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endforeach()
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
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get_filename_component(location "${GTSAM_CYTHON_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_CYTHON_INSTALL_PATH}" NAME)
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install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
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FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
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endforeach()
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else()
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install(DIRECTORY "${source_directory}" DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
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endif()
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endfunction()
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@ -0,0 +1,4 @@
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# Install cython components
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include(GtsamCythonWrap)
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# install scripts and tests
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install_cython_scripts("${CMAKE_SOURCE_DIR}/cython/" "*.py")
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@ -1,11 +0,0 @@
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#!/usr/bin/env bash
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# exit if any command returns non-zero
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set -e
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# print out each command for debugging
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set -x
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#usage: wrap [--matlab|--cython] absoluteInterfacePath moduleName toolboxPath headerPath
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wrap --cython $PWD gtsam $PWD/gtsam ../
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python setup.py build_ext --inplace
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python -m unittest discover
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@ -1,18 +0,0 @@
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from distutils.core import setup
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from distutils.extension import Extension
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from Cython.Build import cythonize
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import eigency
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setup(
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ext_modules = cythonize(Extension(
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"gtsam",
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sources=["gtsam/gtsam.pyx"],
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include_dirs = ["/Users/dta-huynh/install/include",
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"/Users/dta-huynh/install/include/gtsam/3rdparty/Eigen",
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"/usr/local/include"] + eigency.get_includes(include_eigen=False),
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libraries = ['gtsam'],
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library_dirs = ["/Users/dta-huynh/install/lib"],
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language="c++",
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extra_compile_args=["-std=c++11"])),
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)
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@ -0,0 +1,17 @@
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from distutils.core import setup
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from distutils.extension import Extension
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from Cython.Build import cythonize
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import eigency
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setup(
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ext_modules = cythonize(Extension(
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"gtsam",
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sources=["gtsam.pyx"],
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include_dirs = ["${CMAKE_SOURCE_DIR}",
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"${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen"
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] + eigency.get_includes(include_eigen=False),
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libraries = ['gtsam'],
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library_dirs = ["${CMAKE_BINARY_DIR}/gtsam"],
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language="c++",
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extra_compile_args=["-std=c++11"])),
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)
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@ -165,3 +165,12 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Wrap
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wrap_and_install_library(../gtsam.h "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
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endif ()
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# Create the matlab toolbox for the gtsam library
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if (GTSAM_INSTALL_CYTHON_TOOLBOX)
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# Set up codegen
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include(GtsamCythonWrap)
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# Wrap
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wrap_and_install_library_cython(../cython/gtsam.h "${GTSAM_ADDITIONAL_LIBRARIES}" "")
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endif ()
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