Better and up-to-date example project
Richard Roberts
parent
a3b16dfa2b
commit
d45fe95b8d
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@ -1,173 +1,42 @@
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# This file should be used as a template for creating new projects using the CMake tools
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# This project has the following features
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# - GTSAM linking
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# - Boost linking
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# - Unit tests via CppUnitLite
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# - Automatic detection of sources and headers in subfolders
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# - Installation of library and headers
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# - Matlab wrap interface with within-project building
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# - Use of GTSAM cmake macros
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# - Scripts
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###################################################################################
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# To create your own project, replace "myproject" with the actual name of your project
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# To create your own project, replace "example" with the actual name of your project
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cmake_minimum_required(VERSION 2.6)
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enable_testing()
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project(myproject CXX C)
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project(example CXX C)
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# Add the cmake subfolder to the cmake module path - necessary to use macros
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set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${PROJECT_SOURCE_DIR}/cmake")
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# Include GTSAM CMake tools
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find_package(GTSAMCMakeTools)
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include(GtsamBuildTypes) # Load build type flags and default to Debug mode
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include(GtsamTesting) # Easy functions for creating unit tests and scripts
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include(GtsamMatlabWrap) # Automatic MATLAB wrapper generation
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# Ensure that local folder is searched before library folders
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include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
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# Load build type flags and default to Debug mode
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include(GtsamBuildTypes)
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###################################################################################
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# Create a list of library dependencies
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# These will be linked with executables
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set(library_deps "")
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set(linking_mode "static")
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# Find GTSAM components
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find_package(GTSAM REQUIRED) # Uses installed package
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list(APPEND library_deps gtsam-${linking_mode} gtsam_unstable-${linking_mode})
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# Include ransac
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find_package(ransac REQUIRED) # Uses installed package
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list(APPEND library_deps ransac-${linking_mode})
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# Boost - same requirement as gtsam
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find_package(Boost 1.43 COMPONENTS
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serialization
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system
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filesystem
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thread
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date_time
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REQUIRED)
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list(APPEND library_deps
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${Boost_SERIALIZATION_LIBRARY}
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${Boost_SYSTEM_LIBRARY}
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${Boost_FILESYSTEM_LIBRARY}
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${Boost_THREAD_LIBRARY}
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${Boost_DATE_TIME_LIBRARY})
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include_directories(${Boost_INCLUDE_DIR} ${GTSAM_INCLUDE_DIR} ${ransac_INCLUDE_DIR})
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include_directories(${GTSAM_INCLUDE_DIR})
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###################################################################################
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# List subdirs to process tests/sources
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# Each of these will be scanned for new files
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set (myproject_subdirs
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"." # ensure root folder gets included
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stuff
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things
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)
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# loop through subdirs to install and build up source lists
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set(myproject_lib_source "")
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set(myproject_tests_source "")
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set(myproject_scripts_source "")
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foreach(subdir ${myproject_subdirs})
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# Installing headers
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message(STATUS "Installing ${subdir}")
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file(GLOB sub_myproject_headers "myproject/${subdir}/*.h")
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install(FILES ${sub_myproject_headers} DESTINATION include/myproject/${subdir})
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# add sources to main sources list
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file(GLOB subdir_srcs "myproject/${subdir}/*.cpp")
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list(APPEND myproject_lib_source ${subdir_srcs})
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# add tests to main tests list
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file(GLOB subdir_test_srcs "myproject/${subdir}/tests/*.cpp")
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list(APPEND myproject_tests_source ${subdir_test_srcs})
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# add scripts to main tests list
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file(GLOB subdir_scripts_srcs "myproject/${subdir}/scripts/*.cpp")
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list(APPEND myproject_scripts_source ${subdir_scripts_srcs})
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endforeach(subdir)
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set(myproject_version ${myproject_VERSION_MAJOR}.${myproject_VERSION_MINOR}.${myproject_VERSION_PATCH})
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set(myproject_soversion ${myproject_VERSION_MAJOR})
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message(STATUS "GTSAM Version: ${gtsam_version}")
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message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
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# Build library (static and shared versions)
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# Include installed versions
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SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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add_library(${PROJECT_NAME}-shared SHARED ${myproject_lib_source})
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set_target_properties(${PROJECT_NAME}-shared PROPERTIES
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OUTPUT_NAME ${PROJECT_NAME}
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CLEAN_DIRECT_OUTPUT 1)
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install(TARGETS myproject-shared EXPORT myproject-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
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list(APPEND myproject_EXPORTED_TARGETS myproject-shared)
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add_library(${PROJECT_NAME}-static STATIC ${myproject_lib_source})
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set_target_properties(${PROJECT_NAME}-static PROPERTIES
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OUTPUT_NAME ${PROJECT_NAME}
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CLEAN_DIRECT_OUTPUT 1)
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install(TARGETS myproject-static EXPORT myproject-exports ARCHIVE DESTINATION lib)
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list(APPEND myproject_EXPORTED_TARGETS myproject-static)
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install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
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install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib )
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# Disabled tests - subtract these from the test files
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# Note the need for a full path
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set(disabled_tests
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"dummy"
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#"${PROJECT_SOURCE_DIR}/myproject/geometry/tests/testCovarianceEllipse.cpp"
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)
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list(REMOVE_ITEM myproject_tests_source ${disabled_tests})
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# Build static library from common sources
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set(CONVENIENCE_LIB_NAME ${PROJECT_NAME})
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add_library(${CONVENIENCE_LIB_NAME} STATIC example/PrintExamples.h example/PrintExamples.cpp)
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target_link_libraries(${CONVENIENCE_LIB_NAME} gtsam)
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###################################################################################
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# Build tests
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add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
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foreach(test_src_file ${myproject_tests_source})
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get_filename_component(test_base ${test_src_file} NAME_WE)
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message(STATUS "Adding test ${test_src_file} with base name ${test_base}" )
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add_executable(${test_base} ${test_src_file})
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target_link_libraries(${test_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
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add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}/${test_base})
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add_custom_target(${test_base}.run ${test_base} ${ARGN})
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add_dependencies(check ${test_base})
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endforeach(test_src_file)
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# Build scripts
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foreach(script_src_file ${myproject_scripts_source})
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get_filename_component(script_base ${script_src_file} NAME_WE)
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message(STATUS "Adding script ${script_src_file} with base name ${script_base}" )
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add_executable(${script_base} ${script_src_file})
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target_link_libraries(${script_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
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add_custom_target(${script_base}.run ${script_base} ${ARGN})
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endforeach(script_src_file)
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# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
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gtsamAddTestsGlob("example" "tests/test*.cpp" "" "${CONVENIENCE_LIB_NAME}")
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###################################################################################
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# Matlab wrapping
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include(GtsamMatlabWrap)
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set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(MYPROJECT_TOOLBOX_DIR "../matlab/myproject" CACHE PATH "Install folder for matlab toolbox - defaults to inside project")
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set(WRAP_HEADER_PATH "${GTSAM_DIR}/../../../include")
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set(MYPROJECT_TOOLBOX_FLAGS
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${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${PROJECT_SOURCE_DIR} -I${PROJECT_SOURCE_DIR}/myproject -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${GTSAM_INCLUDE_DIR} -I${WRAP_HEADER_PATH} -Wl,-rpath,${CMAKE_BINARY_DIR}:${CMAKE_INSTALL_PREFIX}/lib)
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set(MYPROJECT_LIBRARY_DEPS gtsam gtsam_unstable ransac myproject)
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set(GTSAM_BUILD_MEX_BIN ON)
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# Function to setup codegen, building and installation of the wrap toolbox
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# This wrap setup function assumes that the toolbox will be installed directly,
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# with predictable matlab.h sourcing
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# params:
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# moduleName : the name of the module, interface file must be called moduleName.h
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# mexFlags : Compilation flags to be passed to the mex compiler
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# modulePath : relative path to module markup header file (called moduleName.h)
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# otherLibraries : list of library targets this should depend on
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# toolboxPath : the directory in which to generate/build wrappers
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# wrap_header_path : path to the installed wrap header
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wrap_library_generic(myproject "${MYPROJECT_TOOLBOX_FLAGS}" "" "${MYPROJECT_LIBRARY_DEPS}" "${MYPROJECT_TOOLBOX_DIR}" "${WRAP_HEADER_PATH}")
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# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
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gtsamAddExamplesGlob("*.cpp" "" "${CONVENIENCE_LIB_NAME}")
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###################################################################################
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# Create Install config and export files
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# This config file takes the place of FindXXX.cmake scripts
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include(GtsamMakeConfigFile)
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GtsamMakeConfigFile(myproject)
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export(TARGETS ${myproject_EXPORTED_TARGETS} FILE myproject-exports.cmake)
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# Build MATLAB wrapper
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wrap_and_install_library("example.h" "${CONVENIENCE_LIB_NAME}" "" "")
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@ -0,0 +1,23 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file SayGoodbye.cpp
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* @brief Example script for example project
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* @author Richard Roberts
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*/
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#include <example/PrintExamples.h>
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int main(int argc, char *argv[]) {
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example::PrintExamples().sayGoodbye();
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return 0;
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}
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file SayHello.cpp
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* @brief Example script for example project
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* @author Richard Roberts
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*/
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#include <example/PrintExamples.h>
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int main(int argc, char *argv[]) {
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example::PrintExamples().sayHello();
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return 0;
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}
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file example.h
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* @brief Example wrapper interface file
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* @author Richard Roberts
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*/
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// This is an interface file for automatic MATLAB wrapper generation. See
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// gtsam.h for full documentation and more examples.
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namespace example {
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class PrintExamples {
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void sayHello() const;
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void sayGoodbye() const;
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};
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}
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file print_examples.cpp
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* @brief Example library file
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* @author Richard Roberts
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*/
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#include <iostream>
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#include <example/PrintExamples.h>
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namespace example {
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void PrintExamples::sayHello() const {
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std::cout << internal::getHelloString() << std::endl;
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}
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void PrintExamples::sayGoodbye() const {
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std::cout << internal::getGoodbyeString() << std::endl;
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}
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namespace internal {
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std::string getHelloString() {
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return "Hello!";
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}
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std::string getGoodbyeString() {
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return "See you soon!";
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}
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} // namespace internal
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} // namespace example
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file print_examples.h
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* @brief Example library file
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* @author Richard Roberts
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*/
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#pragma once
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#include <string>
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namespace example {
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class PrintExamples {
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public:
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/// Print a greeting
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void sayHello() const;
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/// Print a farewell
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void sayGoodbye() const;
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};
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namespace internal {
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std::string getHelloString();
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std::string getGoodbyeString();
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} // namespace internal
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} // namespace example
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@ -0,0 +1,43 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testExample.cpp
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* @brief Unit tests for example
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* @author Richard Roberts
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <example/PrintExamples.h>
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using namespace gtsam;
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TEST(Example, HelloString) {
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const std::string expectedString = "Hello!";
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EXPECT(assert_equal(expectedString, example::internal::getHelloString()));
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}
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TEST(Example, GoodbyeString) {
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const std::string expectedString = "See you soon!";
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EXPECT(assert_equal(expectedString, example::internal::getGoodbyeString()));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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@ -1,38 +0,0 @@
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# This file should be used as a template for creating new projects using the CMake tools
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||||
# This project has the following features
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# - GTSAM linking
|
||||
# - Unit tests via CppUnitLite
|
||||
# - Scripts
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||||
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###################################################################################
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# To create your own project, replace "myproject" with the actual name of your project
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||||
cmake_minimum_required(VERSION 2.6)
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enable_testing()
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project(myproject CXX C)
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|
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# Add the cmake subfolder to the cmake module path - necessary to use macros
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list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
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|
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# Ensure that local folder is searched before library folders
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include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
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# Load build type flags and default to Debug mode
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include(GtsamBuildTypes)
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###################################################################################
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# Find GTSAM components
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find_package(GTSAM REQUIRED) # Uses installed package
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include_directories(${GTSAM_INCLUDE_DIR})
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###################################################################################
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# Build static library from common sources
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add_library(${PROJECT_NAME} STATIC ${PROJECT_NAME}/MySourceFiles.cpp)
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target_link_libraries(${PROJECT_NAME} gtsam-shared)
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###################################################################################
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# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
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gtsam_add_subdir_tests(${PROJECT_NAME} "${PROJECT_NAME}" "${PROJECT_NAME}" "")
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###################################################################################
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# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
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gtsam_add_executables("${PROJECT_NAME}/myScripts.cpp" "${PROJECT_NAME}" "${PROJECT_NAME}" "")
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Reference in New Issue