added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost
Alex Cunningham
parent
927ac34014
commit
e45514e858
64
.cproject
64
.cproject
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@ -1778,6 +1778,70 @@
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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="gtsam-shared" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>gtsam-shared</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="check.tests" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check.tests</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="tests.testSerialization.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests.testSerialization.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="timing.inference" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timing.inference</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="timing.linear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timing.linear</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="timing.nonlinear" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timing.nonlinear</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="timing.slam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timing.slam</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="timing.tests" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timing.tests</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="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -46,7 +46,7 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
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add_custom_target(timing)
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# Find boost
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find_package(Boost 1.40 REQUIRED)
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find_package(Boost 1.40 COMPONENTS serialization REQUIRED)
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# General build settings
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include_directories(
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@ -64,7 +64,7 @@ add_subdirectory(gtsam)
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add_subdirectory(CppUnitLite)
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# Build Tests
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#add_subdirectory(tests)
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add_subdirectory(tests)
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# Build wrap
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#add_subdirectory(wrap)
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@ -1,31 +1,43 @@
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include_directories(
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3rdparty/UFconfig
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3rdparty/CCOLAMD/Include
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${CMAKE_SOURCE_DIR})
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# Convenience targets
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add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
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add_custom_target(timing.tests)
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find_package(Boost COMPONENTS serialization REQUIRED)
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set(tests_local_libs
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slam
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nonlinear
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linear
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inference
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geometry
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base
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ccolamd
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CppUnitLite
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${Boost_LIBRARIES}
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)
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# Build tests
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file(GLOB tests_srcs "test*.cpp")
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foreach(test_src ${tests_srcs})
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get_filename_component(test_base ${test_src} NAME_WE)
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set( test_bin ${test_base} )
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add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
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set( test_bin tests.${test_base} )
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message(STATUS "Adding Test ${test_bin}")
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add_executable(${test_bin} ${test_src})
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add_dependencies(check.tests ${test_bin})
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add_dependencies(check ${test_bin})
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add_dependencies(${test_bin} ${PROJECT_NAME}-static)
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add_test(${test_bin} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
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target_link_libraries(${test_bin} CppUnitLite gtsam-static ${Boost_SERIALIZATION_LIBRARY})
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add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
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add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
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target_link_libraries(${test_bin} ${tests_local_libs})
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add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
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endforeach(test_src)
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# Build timing scripts
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file(GLOB time_srcs "time*.cpp")
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foreach(time_src ${time_srcs})
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file(GLOB timing_srcs "time*.cpp")
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foreach(time_src ${timing_srcs})
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get_filename_component(time_base ${time_src} NAME_WE)
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set( time_bin ${time_base} )
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add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
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set( time_bin tests.${time_base} )
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message(STATUS "Adding Timing Benchmark ${time_bin}")
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add_executable(${time_bin} ${time_src})
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add_dependencies(timing.tests ${time_bin})
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add_dependencies(timing ${time_bin})
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add_dependencies(${test_bin} ${PROJECT_NAME}-static)
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target_link_libraries(${time_bin} CppUnitLite gtsam-static)
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add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
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endforeach(time_src)
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target_link_libraries(${time_bin} ${tests_local_libs})
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add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
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endforeach(time_src)
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@ -159,8 +159,6 @@ bool equalsDereferencedXML(const T& input = T()) {
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#include <gtsam/slam/pose3SLAM.h>
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#include <gtsam/slam/visualSLAM.h>
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#include <gtsam/inference/BayesTree-inl.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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@ -438,9 +436,9 @@ TEST (Serialization, gaussianISAM) {
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/* ************************************************************************* */
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/* Create GUIDs for factors in simulated2D */
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BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Prior, "gtsam::simulated2D::Prior" );
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BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Odometry, "gtsam::simulated2D::Odometry" );
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BOOST_CLASS_EXPORT_GUID(gtsam::simulated2D::Measurement, "gtsam::simulated2D::Measurement");
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BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" );
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BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" );
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BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement");
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/* ************************************************************************* */
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TEST (Serialization, smallExample) {
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using namespace example;
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@ -455,12 +453,12 @@ TEST (Serialization, smallExample) {
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/* ************************************************************************* */
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/* Create GUIDs for factors */
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Prior, "gtsam::planarSLAM::Prior");
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Bearing, "gtsam::planarSLAM::Bearing");
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Range, "gtsam::planarSLAM::Range");
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Odometry, "gtsam::planarSLAM::Odometry");
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BOOST_CLASS_EXPORT_GUID(gtsam::planarSLAM::Constraint, "gtsam::planarSLAM::Constraint");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Prior, "gtsam::planarSLAM::Prior");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Bearing, "gtsam::planarSLAM::Bearing");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Range, "gtsam::planarSLAM::Range");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Odometry, "gtsam::planarSLAM::Odometry");
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BOOST_CLASS_EXPORT_GUID(planarSLAM::Constraint, "gtsam::planarSLAM::Constraint");
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/* ************************************************************************* */
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TEST (Serialization, planar_system) {
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using namespace planarSLAM;
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@ -514,12 +512,12 @@ TEST (Serialization, planar_system) {
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/* ************************************************************************* */
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/* Create GUIDs for factors */
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint");
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PosePrior, "gtsam::visualSLAM::PosePrior");
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::PointPrior, "gtsam::visualSLAM::PointPrior");
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
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BOOST_CLASS_EXPORT_GUID(gtsam::visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoFactor");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::PosePrior, "gtsam::visualSLAM::PosePrior");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::PointPrior, "gtsam::visualSLAM::PointPrior");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor");
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BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoFactor");
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/* ************************************************************************* */
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TEST (Serialization, visual_system) {
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