Adding a pre-compiled header for MSVC

cmake/GtsamAddPch.cmake

@@ -0,0 +1,27 @@
+###############################################################################
+# Macro:
+#
+# gtsamAddPch(precompiledHeader precompiledSource sources)
+# 
+# Adds a precompiled header to compile all sources with. Currently only on MSVC.
+# Inspired by https://stackoverflow.com/questions/148570/
+#
+# Arguments:
+#   precompiledHeader: the header file that includes headers to be precompiled.
+#   precompiledSource: the source file that simply includes that header above.
+#   sources: the list of source files to apply this to.
+#
+macro(gtsamAddPch precompiledHeader precompiledSource sources)
+    get_filename_component(pchBasename ${precompiledHeader} NAME_WE)
+    SET(precompiledBinary "${CMAKE_CURRENT_BINARY_DIR}/${pchBasename}.pch")
+	IF(MSVC)
+		message(STATUS "Adding precompiled header for MSVC")
+		set_source_files_properties(${precompiledSource}
+									PROPERTIES COMPILE_FLAGS "/Yc\"${precompiledHeader}\" /Fp\"${precompiledBinary}\""
+											   OBJECT_OUTPUTS "${precompiledBinary}")
+		set_source_files_properties(${sources}
+									PROPERTIES COMPILE_FLAGS "/Yu\"${precompiledHeader}\" /FI\"${precompiledHeader}\" /Fp\"${precompiledBinary}\""
+											   OBJECT_DEPENDS "${precompiledBinary}")  
+	ENDIF(MSVC)
+endmacro(gtsamAddPch)
+

gtsam/CMakeLists.txt

@@ -65,20 +65,19 @@ foreach(subdir ${gtsam_subdirs})
 endforeach(subdir)
 
 # To add additional sources to gtsam when building the full library (static or shared)
-# Add the subfolder with _srcs appended to the end to this list
+# append the subfolder with _srcs appended to the end to this list
-set(gtsam_srcs
+set(gtsam_srcs ${3rdparty_srcs})
-    ${3rdparty_srcs}
+foreach(subdir ${gtsam_subdirs})
-    ${base_srcs}
+	list(APPEND gtsam_srcs ${${subdir}_srcs})
-    ${geometry_srcs}
+endforeach(subdir)
-    ${inference_srcs}
+list(APPEND gtsam_srcs ${gtsam_core_headers})
-    ${symbolic_srcs}
+
-    ${discrete_srcs}
+IF(MSVC)
-    ${linear_srcs}
+	# Add precompiled header to sources
-    ${nonlinear_srcs}
+	include(gtsamAddPch)
-    ${slam_srcs}
+	gtsamAddPch("precompiled_header.h" "precompiled_header.cpp" ${gtsam_srcs})
-    ${navigation_srcs}
+	list(INSERT gtsam_srcs 0 "precompiled_header.cpp")
-	${gtsam_core_headers}
+ENDIF(MSVC)
-)
 
 # Generate and install config and dllexport files
 configure_file(config.h.in config.h)
@@ -155,6 +154,7 @@ if(MSVC)
 		APPEND PROPERTY COMPILE_FLAGS "/bigobj")
 endif()
 
+
 # Create the matlab toolbox for the gtsam library
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     # Set up codegen

gtsam/precompiled_header.cpp

@@ -0,0 +1,19 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+ /**
+  * @file    precompiled_header.cpp
+  * @brief   We need exactly one compilation unit that includes the precompiled headers
+  * @author  Frank Dellaert
+  * @date    November 2018
+  */
+
+#include "precompiled_header.h"

gtsam/precompiled_header.h

@@ -0,0 +1,59 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+ /**
+  * @file    precompiled_header.h>
+  * @brief   Include headers that will be included nearly everywhere
+  * @author  Frank Dellaert
+  * @date    November 2018
+  */
+
+#pragma once
+
+// All headers in base:
+#include <gtsam/base/Lie.h>
+#include <gtsam/base/chartTesting.h>
+#include <gtsam/base/cholesky.h>
+#include <gtsam/base/concepts.h>
+#include <gtsam/base/ConcurrentMap.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/base/DerivedValue.h>
+#include <gtsam/base/DSFVector.h>
+#include <gtsam/base/FastDefaultAllocator.h>
+#include <gtsam/base/FastList.h>
+#include <gtsam/base/FastMap.h>
+#include <gtsam/base/FastSet.h>
+#include <gtsam/base/FastVector.h>
+#include <gtsam/base/GenericValue.h>
+#include <gtsam/base/Group.h>
+#include <gtsam/base/Lie.h>
+#include <gtsam/base/lieProxies.h>
+#include <gtsam/base/Manifold.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/OptionalJacobian.h>
+#include <gtsam/base/ProductLieGroup.h>
+#include <gtsam/base/serialization.h>
+#include <gtsam/base/serializationTestHelpers.h>
+#include <gtsam/base/SymmetricBlockMatrix.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/testLie.h>
+#include <gtsam/base/ThreadsafeException.h>
+#include <gtsam/base/timing.h>
+#include <gtsam/base/treeTraversal-inst.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/Value.h>
+#include <gtsam/base/Vector.h>
+#include <gtsam/base/VectorSpace.h>
+#include <gtsam/base/VerticalBlockMatrix.h>
+
+