Fleshed out support for building MEX binaries during gtsam build
Alex Cunningham
parent
2f9ed9abf2
commit
e1725fb8e3
52
.cproject
52
.cproject
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@ -1653,10 +1653,10 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="PlanarSLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="PlanarSLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>PlanarSLAMExample.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>PlanarSLAMExample_easy.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -1685,10 +1685,10 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="PlanarSLAMExample_selfcontained.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="PlanarSLAMSelfContained_advanced.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>PlanarSLAMExample_selfcontained.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>PlanarSLAMSelfContained_advanced.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -1701,18 +1701,18 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="Pose2SLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="Pose2SLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>Pose2SLAMExample.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>Pose2SLAMExample_easy.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="Pose2SLAMwSPCG.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="Pose2SLAMwSPCG_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>Pose2SLAMwSPCG.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>Pose2SLAMwSPCG_easy.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -1741,10 +1741,10 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="Pose2SLAMExample_graph.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="Pose2SLAMwSPCG_advanced.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>Pose2SLAMExample_graph.run</buildTarget>
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<buildTarget>Pose2SLAMwSPCG_advanced.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -2152,6 +2152,30 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="wrap_gtsam_build" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>wrap_gtsam_build</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="wrap_gtsam_unstable_build" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>wrap_gtsam_unstable_build</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="wrap_gtsam_unstable" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>wrap_gtsam_unstable</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="wrap.testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -61,8 +61,12 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab
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option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
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# Experimental - features disabled by default
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option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF)
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# TODO: Check for matlab mex binary before handling building of binaries
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# Flags for building/installing mex files
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option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF)
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option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files")
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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@ -184,6 +188,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox
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print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ")
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print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ")
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ")
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print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ")
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message(STATUS "===============================================================")
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# Include CPack *after* all flags
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4
gtsam.h
4
gtsam.h
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@ -201,7 +201,7 @@ class Pose3 {
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Pose3();
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Pose3(const gtsam::Pose3& pose);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(Matrix t);
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// Testable
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@ -239,7 +239,7 @@ class Pose3 {
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double y() const;
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double z() const;
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Matrix matrix() const;
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gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const;
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gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
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double range(const gtsam::Point3& point);
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// double range(const gtsam::Pose3& pose);
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};
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@ -91,14 +91,19 @@ if (GTSAM_BUILD_WRAP)
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DEPENDS wrap)
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# Build command
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# Experimental: requires matlab to be on your path
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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# Actually compile the mex files when building the library
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set(TOOLBOX_MAKE_FLAGS "-j2")
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add_custom_target(wrap_gtsam_unstable_build
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COMMAND make ${TOOLBOX_MAKE_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
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add_custom_target(wrap_gtsam_unstable_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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else()
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add_custom_target(wrap_gtsam_unstable_build
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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endif()
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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@ -30,7 +30,7 @@ endif(GTSAM_BUILD_TESTS)
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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set(mexFlags "-I${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")
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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${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam")
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
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set(moduleName gtsam)
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@ -48,20 +48,29 @@ add_custom_target(wrap_gtsam ALL COMMAND
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DEPENDS wrap)
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# Build command
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# Experimental: requires matlab to be on your path
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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# Actually compile the mex files when building the library
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set(TOOLBOX_MAKE_FLAGS "-j2")
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add_custom_target(wrap_gtsam_build
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COMMAND make ${TOOLBOX_MAKE_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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# TODO: pass correct make flags from parent process
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message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
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add_custom_target(wrap_gtsam_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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else()
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add_custom_target(wrap_gtsam_build
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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endif()
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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# Note that we copy the entire contents of the folder blindly - this is because
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# the generated files won't exist at configuration time
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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@ -74,9 +83,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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set(data_excludes "${CMAKE_SOURCE_DIR}/examples/Data/.svn")
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file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*")
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list(REMOVE_ITEM matlab_examples_data ${data_excludes})
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# Data files: *.graph and *.txt
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file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_DIR}/examples/Data/*.txt")
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set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
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install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
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endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
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