Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
Andrew Melim
commit
ed4e1a8e57
|
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@ -46,9 +46,7 @@ endif()
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# Set up options
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# Configurable Options
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option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
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option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" OFF) # These do not currently work
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option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
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if(GTSAM_UNSTABLE_AVAILABLE)
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option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
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endif()
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@ -83,18 +81,6 @@ endif()
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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# Flags to determine whether tests and examples are build during 'make install'
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# Note that these remove the targets from the 'all'
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option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
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option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
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# Pull in infrastructure
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if (GTSAM_BUILD_TESTS)
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enable_testing()
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include(Dart)
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include(CTest)
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endif()
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###############################################################################
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# Find boost
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@ -132,6 +118,7 @@ else()
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if(Boost_TIMER_LIBRARY)
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list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
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else()
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list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
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message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
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endif()
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endif()
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@ -364,19 +351,17 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>=
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message(STATUS "===============================================================")
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message(STATUS "================ Configuration Options ======================")
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message(STATUS "Build flags ")
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print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
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print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ")
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print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
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print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all' ")
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print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
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if (DOXYGEN_FOUND)
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print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
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print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
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endif()
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print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM library instead of shared")
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print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name ")
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if(GTSAM_UNSTABLE_AVAILABLE)
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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endif()
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print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "No tests in all or install ")
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print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "No examples in all or install ")
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string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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if(NOT MSVC AND NOT XCODE_VERSION)
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message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
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@ -102,7 +102,7 @@ if( NOT cmake_build_type_tolower STREQUAL ""
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endif()
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# Mark that first pass is done
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set(FIRST_PASS_DONE TRUE CACHE BOOL "Internally used to mark whether cmake has been run multiple times" FORCE)
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set(FIRST_PASS_DONE TRUE CACHE INTERNAL "Internally used to mark whether cmake has been run multiple times")
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mark_as_advanced(FIRST_PASS_DONE)
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# Enable Visual Studio solution folders
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@ -48,7 +48,7 @@ set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e
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# extraIncludeDirs : Extra include directories, in addition to those already passed to include_directories(...)
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# extraMexFlags : Any additional compiler flags
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function(wrap_and_install_library interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
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wrap_library_internal("${interfaceHeader}" "${otherLibraries}" "${extraIncludeDirs}" "${mexFlags}")
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wrap_library_internal("${interfaceHeader}" "${linkLibraries}" "${extraIncludeDirs}" "${mexFlags}")
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install_wrapped_library_internal("${interfaceHeader}")
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endfunction()
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@ -103,7 +103,8 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
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# Add -shared or -static suffix to targets
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set(correctedOtherLibraries "")
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set(otherLibraryTargets "")
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foreach(lib ${moduleName} ${otherLibraries})
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set(otherLibraryNontargets "")
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foreach(lib ${moduleName} ${linkLibraries})
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if(TARGET ${lib})
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list(APPEND correctedOtherLibraries ${lib})
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list(APPEND otherLibraryTargets ${lib})
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@ -115,8 +116,20 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
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list(APPEND otherLibraryTargets ${lib}-static)
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else()
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list(APPEND correctedOtherLibraries ${lib})
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list(APPEND otherLibraryNontargets ${lib})
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endif()
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endforeach()
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# Check libraries for conflicting versions built-in to MATLAB
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set(dependentLibraries "")
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if(NOT "${otherLibraryTargets}" STREQUAL "")
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foreach(target ${otherLibraryTargets})
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get_target_property(dependentLibrariesOne ${target} INTERFACE_LINK_LIBRARIES)
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list(APPEND dependentLibraries ${dependentLibrariesOne})
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endforeach()
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endif()
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list(APPEND dependentLibraries ${otherLibraryNontargets})
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check_conflicting_libraries_internal("${dependentLibraries}")
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# Set up generation of module source file
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file(MAKE_DIRECTORY "${generated_files_path}")
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@ -205,6 +218,76 @@ function(install_wrapped_library_internal interfaceHeader)
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endif()
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endfunction()
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function(check_conflicting_libraries_internal libraries)
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if(UNIX)
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# Set path for matlab's built-in libraries
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if(APPLE)
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set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
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else()
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if(CMAKE_CL_64)
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set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64")
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else()
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set(mxLibPath "${MATLAB_ROOT}/bin/glnx86")
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endif()
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endif()
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# List matlab's built-in libraries
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file(GLOB matlabLibs RELATIVE "${mxLibPath}" "${mxLibPath}/lib*")
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# Convert to base names
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set(matlabLibNames "")
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foreach(lib ${matlabLibs})
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND matlabLibNames "${libName}")
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endforeach()
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# Get names of link libraries
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set(linkLibNames "")
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foreach(lib ${libraries})
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string(FIND "${lib}" "/" slashPos)
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if(NOT slashPos EQUAL -1)
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# If the name is a path, just get the library name
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND linkLibNames "${libName}")
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else()
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# It's not a path, so see if it looks like a filename
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get_filename_component(ext "${lib}" EXT)
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if(NOT "${ext}" STREQUAL "")
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# It's a filename, so get the base name
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND linkLibNames "${libName}")
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else()
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# It's not a filename so it must be a short name, add the "lib" prefix
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list(APPEND linkLibNames "lib${lib}")
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endif()
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endif()
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endforeach()
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# Remove duplicates
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list(REMOVE_DUPLICATES linkLibNames)
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set(conflictingLibs "")
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foreach(lib ${linkLibNames})
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list(FIND matlabLibNames "${lib}" libPos)
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if(NOT libPos EQUAL -1)
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if(NOT conflictingLibs STREQUAL "")
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set(conflictingLibs "${conflictingLibs}, ")
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endif()
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set(conflictingLibs "${conflictingLibs}${lib}")
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endif()
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endforeach()
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if(NOT "${conflictingLibs}" STREQUAL "")
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message(WARNING "GTSAM links to the libraries [ ${conflictingLibs} ] on your system, but "
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"MATLAB is distributed with its own versions of these libraries which may conflict. "
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"If you get strange errors or crashes with the GTSAM MATLAB wrapper, move these "
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"libraries out of MATLAB's built-in library directory, which is ${mxLibPath} on "
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"your system. MATLAB will usually still work with these libraries moved away, but "
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"if not, you'll have to compile the static GTSAM MATLAB wrapper module.")
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endif()
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endif()
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endfunction()
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# Function to setup codegen and building of the wrap toolbox
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#
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@ -1,111 +1,204 @@
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# Build macros for using tests
|
||||
# This file defines the two macros below for easily adding groups of unit tests and scripts,
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# as well as sets up unit testing and defines several cache options used to control how
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# tests and scripts are built and run.
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||||
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||||
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||||
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###############################################################################
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# Macro:
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#
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# gtsamAddTestsGlob(groupName globPatterns excludedFiles linkLibraries)
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#
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# Add a group of unit tests. A list of unit test .cpp files or glob patterns specifies the
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# tests to create. Tests are assigned into a group name so they can easily by run
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# independently with a make target. Running 'make check' builds and runs all tests.
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#
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# Usage example:
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# gtsamAddTestsGlob(basic "test*.cpp" "testBroken.cpp" "gtsam;GeographicLib")
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#
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||||
# Arguments:
|
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# groupName: A name that will allow this group of tests to be run independently, e.g.
|
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# 'basic' causes a 'check.basic' target to be created to run this test
|
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# group.
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# globPatterns: The list of files or glob patterns from which to create unit tests, with
|
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# one test created for each cpp file. e.g. "test*.cpp", or
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# "testA*.cpp;testB*.cpp;testOneThing.cpp".
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# excludedFiles: A list of files or globs to exclude, e.g. "testC*.cpp;testBroken.cpp".
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||||
# Pass an empty string "" if nothing needs to be excluded.
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# linkLibraries: The list of libraries to link to in addition to CppUnitLite.
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macro(gtsamAddTestsGlob groupName globPatterns excludedFiles linkLibraries)
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gtsamAddTestsGlob_impl("${groupName}" "${globPatterns}" "${excludedFiles}" "${linkLibraries}")
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endmacro()
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||||
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||||
|
||||
###############################################################################
|
||||
# Macro:
|
||||
#
|
||||
# gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)
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#
|
||||
# Add scripts that will serve as examples of how to use the library. A list of files or
|
||||
# glob patterns is specified, and one executable will be created for each matching .cpp
|
||||
# file. These executables will not be installed. They are build with 'make all' if
|
||||
# GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
|
||||
#
|
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# Usage example:
|
||||
# gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
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||||
#
|
||||
# Arguments:
|
||||
# globPatterns: The list of files or glob patterns from which to create unit tests, with
|
||||
# one test created for each cpp file. e.g. "*.cpp", or
|
||||
# "A*.cpp;B*.cpp;MyExample.cpp".
|
||||
# excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass
|
||||
# an empty string "" if nothing needs to be excluded.
|
||||
# linkLibraries: The list of libraries to link to.
|
||||
macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries)
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||||
gtsamAddExamplesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}")
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||||
endmacro()
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||||
|
||||
|
||||
# Implementation follows:
|
||||
|
||||
# Build macros for using tests
|
||||
enable_testing()
|
||||
|
||||
# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
|
||||
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
|
||||
add_custom_target(timing)
|
||||
option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
|
||||
option(GTSAM_BUILD_EXAMPLES_ALWAYS "Build examples with 'make all' (build with 'make examples' if not)" ON)
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||||
|
||||
# Add option for combining unit tests
|
||||
if(MSVC)
|
||||
if(MSVC OR XCODE_VERSION)
|
||||
option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
|
||||
else()
|
||||
option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
|
||||
endif()
|
||||
mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
|
||||
|
||||
# Macro for adding categorized tests in a "tests" folder, with
|
||||
# optional exclusion of tests and convenience library linking options
|
||||
#
|
||||
# By default, all tests are linked with CppUnitLite and boost
|
||||
# Arguments:
|
||||
# - subdir The name of the category for this test
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_tests A list of test files that should not be compiled - use for debugging
|
||||
function(gtsam_add_subdir_tests subdir local_libs full_libs excluded_tests)
|
||||
# Subdirectory target for tests
|
||||
add_custom_target(check.${subdir} COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
|
||||
set(is_test TRUE)
|
||||
# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
|
||||
if(GTSAM_BUILD_TESTS)
|
||||
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
|
||||
endif()
|
||||
|
||||
# Put check target in Visual Studio solution folder
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET check.${subdir} PROPERTY FOLDER "${relative_path}")
|
||||
|
||||
# Link with CppUnitLite - pulled from gtsam installation
|
||||
list(APPEND local_libs CppUnitLite)
|
||||
list(APPEND full_libs CppUnitLite)
|
||||
# Add examples target
|
||||
add_custom_target(examples)
|
||||
|
||||
# Build grouped tests
|
||||
gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
|
||||
"tests/test*.cpp" check "Test" # Standard for all tests
|
||||
"${local_libs}"
|
||||
"${full_libs}" "${excluded_tests}" # Pass in linking and exclusion lists
|
||||
${is_test}) # Set all as tests
|
||||
endfunction()
|
||||
# Include obsolete macros - will be removed in the near future
|
||||
include(GtsamTestingObsolete)
|
||||
|
||||
# Macro for adding categorized timing scripts in a "tests" folder, with
|
||||
# optional exclusion of tests and convenience library linking options
|
||||
#
|
||||
# By default, all tests are linked with boost
|
||||
# Arguments:
|
||||
# - subdir The name of the category for this timing script
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_srcs A list of timing files that should not be compiled - use for debugging
|
||||
macro(gtsam_add_subdir_timing subdir local_libs full_libs excluded_srcs)
|
||||
# Subdirectory target for timing - does not actually execute the scripts
|
||||
add_custom_target(timing.${subdir})
|
||||
set(is_test FALSE)
|
||||
|
||||
# Build grouped benchmarks
|
||||
gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
|
||||
"tests/time*.cpp" timing "Timing Benchmark" # Standard for all timing scripts
|
||||
"${local_libs}" "${full_libs}" "${excluded_srcs}" # Pass in linking and exclusion lists
|
||||
${is_test}) # Treat as not a test
|
||||
# Implementations of this file's macros:
|
||||
|
||||
macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
|
||||
if(GTSAM_BUILD_TESTS)
|
||||
# Add group target if it doesn't already exist
|
||||
if(NOT TARGET check.${groupName})
|
||||
add_custom_target(check.${groupName} COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
|
||||
endif()
|
||||
|
||||
# Get all script files
|
||||
file(GLOB script_files ${globPatterns})
|
||||
|
||||
# Remove excluded scripts from the list
|
||||
if(NOT "${excludedFiles}" STREQUAL "")
|
||||
file(GLOB excludedFilePaths ${excludedFiles})
|
||||
if("${excludedFilePaths}" STREQUAL "")
|
||||
message(WARNING "The pattern '${excludedFiles}' for excluding tests from group ${groupName} did not match any files")
|
||||
else()
|
||||
list(REMOVE_ITEM script_files ${excludedFilePaths})
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Separate into source files and headers (allows for adding headers to show up in
|
||||
# MSVC and Xcode projects).
|
||||
set(script_srcs "")
|
||||
set(script_headers "")
|
||||
foreach(script_file IN ITEMS ${script_files})
|
||||
get_filename_component(script_ext ${script_file} EXT)
|
||||
if(script_ext MATCHES "(h|H)")
|
||||
list(APPEND script_headers ${script_file})
|
||||
else()
|
||||
list(APPEND script_srcs ${script_file})
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
# Don't put test files in folders in MSVC and Xcode because they're already grouped
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
|
||||
if(NOT GTSAM_SINGLE_TEST_EXE)
|
||||
# Default for Makefiles - each test in its own executable
|
||||
foreach(script_src IN ITEMS ${script_srcs})
|
||||
# Get test base name
|
||||
get_filename_component(script_name ${script_src} NAME_WE)
|
||||
|
||||
# Add executable
|
||||
add_executable(${script_name} ${script_src} ${script_headers})
|
||||
target_link_libraries(${script_name} CppUnitLite ${linkLibraries})
|
||||
|
||||
# Add target dependencies
|
||||
add_test(NAME ${script_name} COMMAND ${script_name})
|
||||
add_dependencies(check.${groupName} ${script_name})
|
||||
add_dependencies(check ${script_name})
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${script_name}.run ${EXECUTABLE_OUTPUT_PATH}${script_name})
|
||||
endif()
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Exclude from 'make all' and 'make install'
|
||||
set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
|
||||
# Configure target folder (for MSVC and Xcode)
|
||||
set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests/${groupName}")
|
||||
endforeach()
|
||||
else()
|
||||
# Default on MSVC and XCode - combine test group into a single exectuable
|
||||
set(target_name check_${groupName}_program)
|
||||
|
||||
# Add executable
|
||||
add_executable(${target_name} ${script_srcs} ${script_headers})
|
||||
target_link_libraries(${target_name} CppUnitLite ${linkLibraries})
|
||||
|
||||
# Only have a main function in one script - use preprocessor
|
||||
set(rest_script_srcs ${script_srcs})
|
||||
list(REMOVE_AT rest_script_srcs 0)
|
||||
set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
|
||||
|
||||
# Add target dependencies
|
||||
add_test(NAME ${target_name} COMMAND ${target_name})
|
||||
add_dependencies(check.${groupName} ${target_name})
|
||||
add_dependencies(check ${target_name})
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Exclude from 'make all' and 'make install'
|
||||
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
|
||||
# Configure target folder (for MSVC and Xcode)
|
||||
set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests")
|
||||
endif()
|
||||
endif()
|
||||
endmacro()
|
||||
|
||||
# Macro for adding executables matching a pattern - builds one executable for
|
||||
# each file matching the pattern. These exectuables are automatically linked
|
||||
# with boost.
|
||||
# Arguments:
|
||||
# - pattern The glob pattern to match source files
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_srcs A list of timing files that should not be compiled - use for debugging
|
||||
function(gtsam_add_executables pattern local_libs full_libs excluded_srcs)
|
||||
set(is_test FALSE)
|
||||
|
||||
if(NOT excluded_srcs)
|
||||
set(excluded_srcs "")
|
||||
endif()
|
||||
|
||||
# Build executables
|
||||
gtsam_add_grouped_scripts("" "${pattern}" "" "Executable" "${local_libs}" "${full_libs}" "${excluded_srcs}" ${is_test})
|
||||
endfunction()
|
||||
|
||||
# General-purpose script for adding tests with categories and linking options
|
||||
macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name local_libs full_libs excluded_srcs is_test)
|
||||
macro(gtsamAddExamplesGlob_impl globPatterns excludedFiles linkLibraries)
|
||||
# Get all script files
|
||||
set(script_files "")
|
||||
foreach(one_pattern ${pattern})
|
||||
file(GLOB one_script_files "${one_pattern}")
|
||||
list(APPEND script_files "${one_script_files}")
|
||||
endforeach()
|
||||
file(GLOB script_files ${globPatterns})
|
||||
|
||||
# Remove excluded scripts from the list
|
||||
set(exclusions "") # Need to copy out exclusion list for logic to work
|
||||
foreach(one_exclusion ${excluded_srcs})
|
||||
file(GLOB one_exclusion_srcs "${one_exclusion}")
|
||||
list(APPEND exclusions "${one_exclusion_srcs}")
|
||||
endforeach()
|
||||
if(exclusions)
|
||||
list(REMOVE_ITEM script_files ${exclusions})
|
||||
endif(exclusions)
|
||||
if(NOT "${excludedFiles}" STREQUAL "")
|
||||
file(GLOB excludedFilePaths ${excludedFiles})
|
||||
if("${excludedFilePaths}" STREQUAL "")
|
||||
message(WARNING "The script exclusion pattern '${excludedFiles}' did not match any files")
|
||||
else()
|
||||
list(REMOVE_ITEM script_files ${excludedFilePaths})
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Separate into source files and headers
|
||||
# Separate into source files and headers (allows for adding headers to show up in
|
||||
# MSVC and Xcode projects).
|
||||
set(script_srcs "")
|
||||
set(script_headers "")
|
||||
foreach(script_file ${script_files})
|
||||
foreach(script_file IN ITEMS ${script_files})
|
||||
get_filename_component(script_ext ${script_file} EXT)
|
||||
if(script_ext MATCHES "(h|H)")
|
||||
list(APPEND script_headers ${script_file})
|
||||
|
|
@ -113,94 +206,34 @@ macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name l
|
|||
list(APPEND script_srcs ${script_file})
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
|
||||
# Add targets and dependencies for each script
|
||||
if(NOT "${group}" STREQUAL "")
|
||||
message(STATUS "Adding ${pretty_prefix_name}s in ${group}")
|
||||
endif()
|
||||
|
||||
# Create exe's for each script, unless we're in SINGLE_TEST_EXE mode
|
||||
if(NOT is_test OR NOT GTSAM_SINGLE_TEST_EXE)
|
||||
foreach(script_src ${script_srcs})
|
||||
get_filename_component(script_base ${script_src} NAME_WE)
|
||||
if (script_base) # Check for null filenames and headers
|
||||
set( script_bin ${script_base} )
|
||||
message(STATUS "Adding ${pretty_prefix_name} ${script_bin}")
|
||||
add_executable(${script_bin} ${script_src} ${script_headers})
|
||||
if(NOT "${target_prefix}" STREQUAL "")
|
||||
if(NOT "${group}" STREQUAL "")
|
||||
add_dependencies(${target_prefix}.${group} ${script_bin})
|
||||
endif()
|
||||
add_dependencies(${target_prefix} ${script_bin})
|
||||
endif()
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_TESTS_ON_INSTALL)
|
||||
set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
if (is_test)
|
||||
add_test(NAME ${script_base} COMMAND ${script_bin})
|
||||
endif()
|
||||
|
||||
# Linking and dependendencies
|
||||
if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
|
||||
target_link_libraries(${script_bin} ${local_libs} ${GTSAM_BOOST_LIBRARIES})
|
||||
else()
|
||||
target_link_libraries(${script_bin} ${full_libs} ${GTSAM_BOOST_LIBRARIES})
|
||||
endif()
|
||||
|
||||
# Add .run target
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${script_bin}.run ${EXECUTABLE_OUTPUT_PATH}${script_bin} ${ARGN})
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folders
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
|
||||
endif()
|
||||
endforeach(script_src)
|
||||
|
||||
if(MSVC)
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
# Don't put test files in folders in MSVC and Xcode because they're already grouped
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
|
||||
# Create executables
|
||||
foreach(script_src IN ITEMS ${script_srcs})
|
||||
# Get script base name
|
||||
get_filename_component(script_name ${script_src} NAME_WE)
|
||||
|
||||
# Add executable
|
||||
add_executable(${script_name} ${script_src} ${script_headers})
|
||||
target_link_libraries(${script_name} ${linkLibraries})
|
||||
|
||||
# Add target dependencies
|
||||
add_dependencies(examples ${script_name})
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${script_name}.run ${EXECUTABLE_OUTPUT_PATH}${script_name})
|
||||
endif()
|
||||
else()
|
||||
# Create single unit test exe from all test scripts
|
||||
set(script_bin ${target_prefix}_${group}_prog)
|
||||
add_executable(${script_bin} ${script_srcs} ${script_headers})
|
||||
if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
|
||||
target_link_libraries(${script_bin} ${local_libs} ${Boost_LIBRARIES})
|
||||
else()
|
||||
target_link_libraries(${script_bin} ${Boost_LIBRARIES} ${full_libs})
|
||||
endif()
|
||||
|
||||
# Only have a main function in one script
|
||||
set(rest_script_srcs ${script_srcs})
|
||||
list(REMOVE_AT rest_script_srcs 0)
|
||||
set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
|
||||
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Add test
|
||||
add_dependencies(${target_prefix}.${group} ${script_bin})
|
||||
add_dependencies(${target_prefix} ${script_bin})
|
||||
add_test(NAME ${target_prefix}.${group} COMMAND ${script_bin})
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_TESTS_ON_INSTALL)
|
||||
set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
if(NOT GTSAM_BUILD_EXAMPLES_ALWAYS)
|
||||
# Exclude from 'make all' and 'make install'
|
||||
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folders
|
||||
if(MSVC)
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Configure target folder (for MSVC and Xcode)
|
||||
set_property(TARGET ${script_name} PROPERTY FOLDER "Examples")
|
||||
endforeach()
|
||||
endmacro()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,195 @@
|
|||
|
||||
# Macro for adding categorized tests in a "tests" folder, with
|
||||
# optional exclusion of tests and convenience library linking options
|
||||
#
|
||||
# By default, all tests are linked with CppUnitLite and boost
|
||||
# Arguments:
|
||||
# - subdir The name of the category for this test
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_tests A list of test files that should not be compiled - use for debugging
|
||||
function(gtsam_add_subdir_tests subdir local_libs full_libs excluded_tests)
|
||||
# Subdirectory target for tests
|
||||
add_custom_target(check.${subdir} COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
|
||||
set(is_test TRUE)
|
||||
|
||||
# Put check target in Visual Studio solution folder
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET check.${subdir} PROPERTY FOLDER "${relative_path}")
|
||||
|
||||
# Link with CppUnitLite - pulled from gtsam installation
|
||||
list(APPEND local_libs CppUnitLite)
|
||||
list(APPEND full_libs CppUnitLite)
|
||||
|
||||
# Build grouped tests
|
||||
gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
|
||||
"tests/test*.cpp" check "Test" # Standard for all tests
|
||||
"${local_libs}"
|
||||
"${full_libs}" "${excluded_tests}" # Pass in linking and exclusion lists
|
||||
${is_test}) # Set all as tests
|
||||
endfunction()
|
||||
|
||||
# Macro for adding categorized timing scripts in a "tests" folder, with
|
||||
# optional exclusion of tests and convenience library linking options
|
||||
#
|
||||
# By default, all tests are linked with boost
|
||||
# Arguments:
|
||||
# - subdir The name of the category for this timing script
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_srcs A list of timing files that should not be compiled - use for debugging
|
||||
macro(gtsam_add_subdir_timing subdir local_libs full_libs excluded_srcs)
|
||||
# Subdirectory target for timing - does not actually execute the scripts
|
||||
add_custom_target(timing.${subdir})
|
||||
set(is_test FALSE)
|
||||
|
||||
# Build grouped benchmarks
|
||||
gtsam_add_grouped_scripts("${subdir}" # Use subdirectory as group label
|
||||
"tests/time*.cpp" timing "Timing Benchmark" # Standard for all timing scripts
|
||||
"${local_libs}" "${full_libs}" "${excluded_srcs}" # Pass in linking and exclusion lists
|
||||
${is_test}) # Treat as not a test
|
||||
endmacro()
|
||||
|
||||
# Macro for adding executables matching a pattern - builds one executable for
|
||||
# each file matching the pattern. These exectuables are automatically linked
|
||||
# with boost.
|
||||
# Arguments:
|
||||
# - pattern The glob pattern to match source files
|
||||
# - local_libs A list of convenience libraries to use (if GTSAM_BUILD_CONVENIENCE_LIBRARIES is true)
|
||||
# - full_libs The main library to link against if not using convenience libraries
|
||||
# - excluded_srcs A list of timing files that should not be compiled - use for debugging
|
||||
function(gtsam_add_executables pattern local_libs full_libs excluded_srcs)
|
||||
set(is_test FALSE)
|
||||
|
||||
if(NOT excluded_srcs)
|
||||
set(excluded_srcs "")
|
||||
endif()
|
||||
|
||||
# Build executables
|
||||
gtsam_add_grouped_scripts("" "${pattern}" "" "Executable" "${local_libs}" "${full_libs}" "${excluded_srcs}" ${is_test})
|
||||
endfunction()
|
||||
|
||||
# General-purpose script for adding tests with categories and linking options
|
||||
macro(gtsam_add_grouped_scripts group pattern target_prefix pretty_prefix_name local_libs full_libs excluded_srcs is_test)
|
||||
# Print warning about using this obsolete function
|
||||
message(AUTHOR_WARNING "Warning: Please see GtsamTesting.cmake - obsolete cmake cmake macro for creating unit tests, examples, and scripts was called. This will be removed in the future. The new macros are much easier anyway!!")
|
||||
|
||||
# Get all script files
|
||||
set(script_files "")
|
||||
foreach(one_pattern ${pattern})
|
||||
file(GLOB one_script_files "${one_pattern}")
|
||||
list(APPEND script_files "${one_script_files}")
|
||||
endforeach()
|
||||
|
||||
# Remove excluded scripts from the list
|
||||
set(exclusions "") # Need to copy out exclusion list for logic to work
|
||||
foreach(one_exclusion ${excluded_srcs})
|
||||
file(GLOB one_exclusion_srcs "${one_exclusion}")
|
||||
list(APPEND exclusions "${one_exclusion_srcs}")
|
||||
endforeach()
|
||||
if(exclusions)
|
||||
list(REMOVE_ITEM script_files ${exclusions})
|
||||
endif(exclusions)
|
||||
|
||||
# Separate into source files and headers
|
||||
set(script_srcs "")
|
||||
set(script_headers "")
|
||||
foreach(script_file ${script_files})
|
||||
get_filename_component(script_ext ${script_file} EXT)
|
||||
if(script_ext MATCHES "(h|H)")
|
||||
list(APPEND script_headers ${script_file})
|
||||
else()
|
||||
list(APPEND script_srcs ${script_file})
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
|
||||
# Add targets and dependencies for each script
|
||||
if(NOT "${group}" STREQUAL "")
|
||||
message(STATUS "Adding ${pretty_prefix_name}s in ${group}")
|
||||
endif()
|
||||
|
||||
# Create exe's for each script, unless we're in SINGLE_TEST_EXE mode
|
||||
if(NOT is_test OR NOT GTSAM_SINGLE_TEST_EXE)
|
||||
foreach(script_src ${script_srcs})
|
||||
get_filename_component(script_base ${script_src} NAME_WE)
|
||||
if (script_base) # Check for null filenames and headers
|
||||
set( script_bin ${script_base} )
|
||||
message(STATUS "Adding ${pretty_prefix_name} ${script_bin}")
|
||||
add_executable(${script_bin} ${script_src} ${script_headers})
|
||||
if(NOT "${target_prefix}" STREQUAL "")
|
||||
if(NOT "${group}" STREQUAL "")
|
||||
add_dependencies(${target_prefix}.${group} ${script_bin})
|
||||
endif()
|
||||
add_dependencies(${target_prefix} ${script_bin})
|
||||
endif()
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_TESTS_ON_INSTALL)
|
||||
set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
if (is_test)
|
||||
add_test(NAME ${script_base} COMMAND ${script_bin})
|
||||
endif()
|
||||
|
||||
# Linking and dependendencies
|
||||
if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
|
||||
target_link_libraries(${script_bin} ${local_libs} ${GTSAM_BOOST_LIBRARIES})
|
||||
else()
|
||||
target_link_libraries(${script_bin} ${full_libs} ${GTSAM_BOOST_LIBRARIES})
|
||||
endif()
|
||||
|
||||
# Add .run target
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${script_bin}.run ${EXECUTABLE_OUTPUT_PATH}${script_bin} ${ARGN})
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folders
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
|
||||
endif()
|
||||
endforeach(script_src)
|
||||
|
||||
if(MSVC)
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
endif()
|
||||
else()
|
||||
# Create single unit test exe from all test scripts
|
||||
set(script_bin ${target_prefix}_${group}_prog)
|
||||
add_executable(${script_bin} ${script_srcs} ${script_headers})
|
||||
if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
|
||||
target_link_libraries(${script_bin} ${local_libs} ${Boost_LIBRARIES})
|
||||
else()
|
||||
target_link_libraries(${script_bin} ${Boost_LIBRARIES} ${full_libs})
|
||||
endif()
|
||||
|
||||
# Only have a main function in one script
|
||||
set(rest_script_srcs ${script_srcs})
|
||||
list(REMOVE_AT rest_script_srcs 0)
|
||||
set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
|
||||
|
||||
# Add TOPSRCDIR
|
||||
set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
|
||||
|
||||
# Add test
|
||||
add_dependencies(${target_prefix}.${group} ${script_bin})
|
||||
add_dependencies(${target_prefix} ${script_bin})
|
||||
add_test(NAME ${target_prefix}.${group} COMMAND ${script_bin})
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_TESTS_ON_INSTALL)
|
||||
set_target_properties(${script_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folders
|
||||
if(MSVC)
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set_property(TARGET ${script_bin} PROPERTY FOLDER "${relative_path}")
|
||||
source_group("" FILES ${script_srcs} ${script_headers})
|
||||
endif()
|
||||
endif()
|
||||
endmacro()
|
||||
|
|
@ -1,42 +1,8 @@
|
|||
if(NOT MSVC)
|
||||
add_custom_target(examples)
|
||||
endif()
|
||||
|
||||
# Build example executables
|
||||
FILE(GLOB example_srcs "*.cpp")
|
||||
|
||||
set (excluded_examples #"")
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/DiscreteBayesNet_FG.cpp"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/UGM_chain.cpp"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/UGM_small.cpp"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/elaboratePoint2KalmanFilter.cpp"
|
||||
set (excluded_examples
|
||||
DiscreteBayesNet_FG.cpp
|
||||
UGM_chain.cpp
|
||||
UGM_small.cpp
|
||||
elaboratePoint2KalmanFilter.cpp
|
||||
)
|
||||
|
||||
list(REMOVE_ITEM example_srcs ${excluded_examples})
|
||||
|
||||
foreach(example_src ${example_srcs} )
|
||||
get_filename_component(example_base ${example_src} NAME_WE)
|
||||
set( example_bin ${example_base} )
|
||||
message(STATUS "Adding Example ${example_bin}")
|
||||
if(NOT MSVC)
|
||||
add_dependencies(examples ${example_bin})
|
||||
endif()
|
||||
add_executable(${example_bin} ${example_src})
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
|
||||
set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
target_link_libraries(${example_bin} gtsam ${Boost_PROGRAM_OPTIONS_LIBRARY})
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folder
|
||||
if(MSVC)
|
||||
set_property(TARGET ${example_bin} PROPERTY FOLDER "Examples")
|
||||
endif()
|
||||
|
||||
endforeach(example_src)
|
||||
|
||||
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
|
||||
|
|
|
|||
|
|
@ -536,8 +536,8 @@ void runCompare()
|
|||
void runPerturb()
|
||||
{
|
||||
// Set up random number generator
|
||||
boost::random::mt19937 rng;
|
||||
boost::random::normal_distribution<double> normal(0.0, perturbationNoise);
|
||||
boost::mt19937 rng;
|
||||
boost::normal_distribution<double> normal(0.0, perturbationNoise);
|
||||
|
||||
// Perturb values
|
||||
VectorValues noise;
|
||||
|
|
|
|||
|
|
@ -156,5 +156,5 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
endif()
|
||||
|
||||
# Wrap
|
||||
wrap_and_install_library(../gtsam.h "gtsam;${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
|
||||
wrap_and_install_library(../gtsam.h "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
|
||||
endif ()
|
||||
|
|
|
|||
|
|
@ -5,16 +5,8 @@ install(FILES ${base_headers} DESTINATION include/gtsam/base)
|
|||
file(GLOB base_headers_tree "treeTraversal/*.h")
|
||||
install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(base_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
# "" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(base "gtsam" "gtsam" "${base_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -61,32 +61,32 @@ namespace gtsam {
|
|||
|
||||
/// Construct from a container of the sizes of each block.
|
||||
template<typename CONTAINER>
|
||||
SymmetricBlockMatrix(const CONTAINER& dimensions) :
|
||||
SymmetricBlockMatrix(const CONTAINER& dimensions, bool appendOneDimension = false) :
|
||||
blockStart_(0)
|
||||
{
|
||||
fillOffsets(dimensions.begin(), dimensions.end());
|
||||
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
|
||||
matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
|
||||
assertInvariants();
|
||||
}
|
||||
|
||||
/// Construct from iterator over the sizes of each vertical block.
|
||||
template<typename ITERATOR>
|
||||
SymmetricBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim) :
|
||||
SymmetricBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension = false) :
|
||||
blockStart_(0)
|
||||
{
|
||||
fillOffsets(firstBlockDim, lastBlockDim);
|
||||
fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
|
||||
matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
|
||||
assertInvariants();
|
||||
}
|
||||
|
||||
/// Construct from a container of the sizes of each vertical block and a pre-prepared matrix.
|
||||
template<typename CONTAINER>
|
||||
SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
|
||||
SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
|
||||
blockStart_(0)
|
||||
{
|
||||
matrix_.resize(matrix.rows(), matrix.cols());
|
||||
matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>();
|
||||
fillOffsets(dimensions.begin(), dimensions.end());
|
||||
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
|
||||
if(matrix_.rows() != matrix_.cols())
|
||||
throw std::invalid_argument("Requested to create a SymmetricBlockMatrix from a non-square matrix.");
|
||||
if(variableColOffsets_.back() != matrix_.cols())
|
||||
|
|
@ -211,85 +211,21 @@ namespace gtsam {
|
|||
return variableColOffsets_[block + blockStart_];
|
||||
}
|
||||
|
||||
//void checkRange(DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
|
||||
//{
|
||||
// const DenseIndex i_actualStartBlock = i_startBlock + blockStart_;
|
||||
// const DenseIndex i_actualEndBlock = i_endBlock + blockStart_;
|
||||
// const DenseIndex j_actualStartBlock = j_startBlock + blockStart_;
|
||||
// const DenseIndex j_actualEndBlock = j_endBlock + blockStart_;
|
||||
// checkBlock(i_actualStartBlock);
|
||||
// checkBlock(j_actualStartBlock);
|
||||
// if(i_startBlock != 0 || i_endBlock != 0) {
|
||||
// checkBlock(i_actualStartBlock);
|
||||
// assert(i_actualEndBlock < (DenseIndex)variableColOffsets_.size());
|
||||
// }
|
||||
// if(j_startBlock != 0 || j_endBlock != 0) {
|
||||
// checkBlock(j_actualStartBlock);
|
||||
// assert(j_actualEndBlock < (DenseIndex)variableColOffsets_.size());
|
||||
// }
|
||||
//}
|
||||
|
||||
//void checkRange(DenseIndex startBlock, DenseIndex endBlock) const
|
||||
//{
|
||||
// const DenseIndex actualStartBlock = startBlock + blockStart_;
|
||||
// const DenseIndex actualEndBlock = endBlock + blockStart_;
|
||||
// checkBlock(actualStartBlock);
|
||||
// if(startBlock != 0 || endBlock != 0) {
|
||||
// checkBlock(actualStartBlock);
|
||||
// assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
|
||||
// }
|
||||
//}
|
||||
|
||||
//Block rangeUnchecked(DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock)
|
||||
//{
|
||||
// const DenseIndex i_actualStartBlock = i_startBlock + blockStart_;
|
||||
// const DenseIndex i_actualEndBlock = i_endBlock + blockStart_;
|
||||
// const DenseIndex j_actualStartBlock = j_startBlock + blockStart_;
|
||||
// const DenseIndex j_actualEndBlock = j_endBlock + blockStart_;
|
||||
|
||||
// return Block(matrix(),
|
||||
// variableColOffsets_[i_actualStartBlock],
|
||||
// variableColOffsets_[j_actualStartBlock],
|
||||
// variableColOffsets_[i_actualEndBlock] - variableColOffsets_[i_actualStartBlock],
|
||||
// variableColOffsets_[j_actualEndBlock] - variableColOffsets_[j_actualStartBlock]);
|
||||
//}
|
||||
|
||||
//constBlock rangeUnchecked(DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
|
||||
//{
|
||||
// // Convert Block to constBlock
|
||||
// const Block block = const_cast<This*>(this)->rangeUnchecked(i_startBlock, i_endBlock, j_startBlock, j_endBlock);
|
||||
// return constBlock(matrix(), block.Base::Base::, block.startCol(), block.rows(), block.cols());
|
||||
//}
|
||||
|
||||
//Block rangeUnchecked(DenseIndex startBlock, DenseIndex endBlock)
|
||||
//{
|
||||
// const DenseIndex actualStartBlock = startBlock + blockStart_;
|
||||
// const DenseIndex actualEndBlock = endBlock + blockStart_;
|
||||
|
||||
// return Block(matrix(),
|
||||
// variableColOffsets_[actualStartBlock],
|
||||
// variableColOffsets_[actualStartBlock],
|
||||
// variableColOffsets_[actualEndBlock] - variableColOffsets_[actualStartBlock],
|
||||
// variableColOffsets_[actualEndBlock] - variableColOffsets_[actualStartBlock]);
|
||||
//}
|
||||
|
||||
//constBlock rangeUnchecked(DenseIndex startBlock, DenseIndex endBlock) const
|
||||
//{
|
||||
// // Convert Block to constBlock
|
||||
// const Block block = const_cast<This*>(this)->rangeUnchecked(startBlock, endBlock);
|
||||
// return constBlock(matrix(), block.startRow(), block.startCol(), block.rows(), block.cols());
|
||||
//}
|
||||
|
||||
template<typename ITERATOR>
|
||||
void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim)
|
||||
void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension)
|
||||
{
|
||||
variableColOffsets_.resize((lastBlockDim-firstBlockDim)+1);
|
||||
variableColOffsets_.resize((lastBlockDim-firstBlockDim) + 1 + (appendOneDimension ? 1 : 0));
|
||||
variableColOffsets_[0] = 0;
|
||||
DenseIndex j=0;
|
||||
for(ITERATOR dim=firstBlockDim; dim!=lastBlockDim; ++dim) {
|
||||
variableColOffsets_[j+1] = variableColOffsets_[j] + *dim;
|
||||
++ j;
|
||||
}
|
||||
if(appendOneDimension)
|
||||
{
|
||||
variableColOffsets_[j+1] = variableColOffsets_[j] + 1;
|
||||
++ j;
|
||||
}
|
||||
}
|
||||
|
||||
friend class VerticalBlockMatrix;
|
||||
|
|
|
|||
|
|
@ -65,20 +65,20 @@ namespace gtsam {
|
|||
|
||||
/** Construct from a container of the sizes of each vertical block. */
|
||||
template<typename CONTAINER>
|
||||
VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height) :
|
||||
VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height, bool appendOneDimension = false) :
|
||||
rowStart_(0), rowEnd_(height), blockStart_(0)
|
||||
{
|
||||
fillOffsets(dimensions.begin(), dimensions.end());
|
||||
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
|
||||
matrix_.resize(height, variableColOffsets_.back());
|
||||
assertInvariants();
|
||||
}
|
||||
|
||||
/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
|
||||
template<typename CONTAINER>
|
||||
VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
|
||||
VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
|
||||
matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0)
|
||||
{
|
||||
fillOffsets(dimensions.begin(), dimensions.end());
|
||||
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
|
||||
if(variableColOffsets_.back() != matrix_.cols())
|
||||
throw std::invalid_argument("Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
|
||||
assertInvariants();
|
||||
|
|
@ -87,10 +87,10 @@ namespace gtsam {
|
|||
/**
|
||||
* Construct from iterator over the sizes of each vertical block. */
|
||||
template<typename ITERATOR>
|
||||
VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height) :
|
||||
VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height, bool appendOneDimension = false) :
|
||||
rowStart_(0), rowEnd_(height), blockStart_(0)
|
||||
{
|
||||
fillOffsets(firstBlockDim, lastBlockDim);
|
||||
fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
|
||||
matrix_.resize(height, variableColOffsets_.back());
|
||||
assertInvariants();
|
||||
}
|
||||
|
|
@ -202,14 +202,19 @@ namespace gtsam {
|
|||
}
|
||||
|
||||
template<typename ITERATOR>
|
||||
void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim) {
|
||||
variableColOffsets_.resize((lastBlockDim-firstBlockDim)+1);
|
||||
void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension) {
|
||||
variableColOffsets_.resize((lastBlockDim-firstBlockDim) + 1 + (appendOneDimension ? 1 : 0));
|
||||
variableColOffsets_[0] = 0;
|
||||
DenseIndex j=0;
|
||||
for(ITERATOR dim=firstBlockDim; dim!=lastBlockDim; ++dim) {
|
||||
variableColOffsets_[j+1] = variableColOffsets_[j] + *dim;
|
||||
++ j;
|
||||
}
|
||||
if(appendOneDimension)
|
||||
{
|
||||
variableColOffsets_[j+1] = variableColOffsets_[j] + 1;
|
||||
++ j;
|
||||
}
|
||||
}
|
||||
|
||||
friend class SymmetricBlockMatrix;
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(base "test*.cpp" "" "gtsam")
|
||||
|
|
@ -4,13 +4,8 @@ file(GLOB discrete_headers "*.h")
|
|||
# FIXME: exclude headers
|
||||
install(FILES ${discrete_headers} DESTINATION include/gtsam/discrete)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (discrete_excluded_tests "")
|
||||
|
||||
# Add all tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(discrete "gtsam" "gtsam" "${discrete_excluded_tests}")
|
||||
endif()
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
#if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(discrete "test*.cpp" "" "gtsam")
|
||||
|
|
@ -2,16 +2,8 @@
|
|||
file(GLOB geometry_headers "*.h")
|
||||
install(FILES ${geometry_headers} DESTINATION include/gtsam/geometry)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(geometry_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
"" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(geometry "gtsam" "gtsam" "${geometry_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -45,10 +45,10 @@ Rot3 Rot3::rodriguez(const Sphere2& w, double theta) {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Rot3 Rot3::Random(boost::random::mt19937 & rng) {
|
||||
Rot3 Rot3::Random(boost::mt19937 & rng) {
|
||||
// TODO allow any engine without including all of boost :-(
|
||||
Sphere2 w = Sphere2::Random(rng);
|
||||
boost::random::uniform_real_distribution<double> randomAngle(-M_PI,M_PI);
|
||||
boost::uniform_real<double> randomAngle(-M_PI,M_PI);
|
||||
double angle = randomAngle(rng);
|
||||
return rodriguez(w,angle);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -104,7 +104,7 @@ namespace gtsam {
|
|||
Rot3(const Quaternion& q);
|
||||
|
||||
/// Random, generates a random axis, then random angle \in [-p,pi]
|
||||
static Rot3 Random(boost::random::mt19937 & rng);
|
||||
static Rot3 Random(boost::mt19937 & rng);
|
||||
|
||||
/** Virtual destructor */
|
||||
virtual ~Rot3() {}
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@
|
|||
#include <gtsam/geometry/Point2.h>
|
||||
#include <boost/random/mersenne_twister.hpp>
|
||||
#include <boost/random/uniform_on_sphere.hpp>
|
||||
#include <boost/random/variate_generator.hpp>
|
||||
#include <iostream>
|
||||
|
||||
using namespace std;
|
||||
|
|
@ -44,10 +45,14 @@ Sphere2 Sphere2::FromPoint3(const Point3& point,
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Sphere2 Sphere2::Random(boost::random::mt19937 & rng) {
|
||||
Sphere2 Sphere2::Random(boost::mt19937 & rng) {
|
||||
// TODO allow any engine without including all of boost :-(
|
||||
boost::random::uniform_on_sphere<double> randomDirection(3);
|
||||
vector<double> d = randomDirection(rng);
|
||||
boost::uniform_on_sphere<double> randomDirection(3);
|
||||
// This variate_generator object is required for versions of boost somewhere
|
||||
// around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng).
|
||||
boost::variate_generator<boost::mt19937&, boost::uniform_on_sphere<double> >
|
||||
generator(rng, randomDirection);
|
||||
vector<double> d = generator();
|
||||
Sphere2 result;
|
||||
result.p_ = Point3(d[0], d[1], d[2]);
|
||||
return result;
|
||||
|
|
|
|||
|
|
@ -22,23 +22,12 @@
|
|||
|
||||
#include <gtsam/geometry/Point3.h>
|
||||
#include <gtsam/base/DerivedValue.h>
|
||||
#include <boost/random/mersenne_twister.hpp>
|
||||
|
||||
#ifndef SPHERE2_DEFAULT_COORDINATES_MODE
|
||||
#define SPHERE2_DEFAULT_COORDINATES_MODE Sphere2::RENORM
|
||||
#endif
|
||||
|
||||
// (Cumbersome) forward declaration for random generator
|
||||
namespace boost {
|
||||
namespace random {
|
||||
template<class UIntType, std::size_t w, std::size_t n, std::size_t m,
|
||||
std::size_t r, UIntType a, std::size_t u, UIntType d, std::size_t s,
|
||||
UIntType b, std::size_t t, UIntType c, std::size_t l, UIntType f>
|
||||
class mersenne_twister_engine;
|
||||
typedef mersenne_twister_engine<uint32_t, 32, 624, 397, 31, 0x9908b0df, 11,
|
||||
0xffffffff, 7, 0x9d2c5680, 15, 0xefc60000, 18, 1812433253> mt19937;
|
||||
}
|
||||
}
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/// Represents a 3D point on a unit sphere.
|
||||
|
|
@ -75,7 +64,7 @@ public:
|
|||
boost::optional<Matrix&> H = boost::none);
|
||||
|
||||
/// Random direction, using boost::uniform_on_sphere
|
||||
static Sphere2 Random(boost::random::mt19937 & rng);
|
||||
static Sphere2 Random(boost::mt19937 & rng);
|
||||
|
||||
/// @}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(geometry "test*.cpp" "" "gtsam")
|
||||
|
|
@ -312,7 +312,7 @@ TEST(Sphere2, localCoordinates_retract_expmap) {
|
|||
|
||||
//*******************************************************************************
|
||||
TEST(Sphere2, Random) {
|
||||
boost::random::mt19937 rng(42);
|
||||
boost::mt19937 rng(42);
|
||||
// Check that is deterministic given same random seed
|
||||
Point3 expected(-0.667578, 0.671447, 0.321713);
|
||||
Point3 actual = Sphere2::Random(rng).point3();
|
||||
|
|
|
|||
|
|
@ -2,16 +2,8 @@
|
|||
file(GLOB inference_headers "*.h")
|
||||
install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(inference_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
"" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(inference "gtsam" "gtsam" "${inference_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(inference "test*.cpp" "" "gtsam")
|
||||
|
|
@ -2,21 +2,8 @@
|
|||
file(GLOB linear_headers "*.h")
|
||||
install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(linear_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
# "" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(linear "gtsam" "gtsam" "${linear_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
|
||||
if(MSVC)
|
||||
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerializationLinear.cpp"
|
||||
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
|
||||
endif()
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -19,9 +19,6 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <boost/range/join.hpp>
|
||||
#include <boost/assign/list_of.hpp>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -42,7 +42,6 @@
|
|||
#include <boost/assign/list_of.hpp>
|
||||
#include <boost/range/adaptor/transformed.hpp>
|
||||
#include <boost/range/adaptor/map.hpp>
|
||||
#include <boost/range/join.hpp>
|
||||
#include <boost/range/algorithm/copy.hpp>
|
||||
|
||||
#include <sstream>
|
||||
|
|
@ -179,7 +178,7 @@ DenseIndex _getSizeHF(const Vector& m) { return m.size(); }
|
|||
/* ************************************************************************* */
|
||||
HessianFactor::HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
|
||||
const std::vector<Vector>& gs, double f) :
|
||||
GaussianFactor(js), info_(br::join(gs | br::transformed(&_getSizeHF), ListOfOne((DenseIndex)1)))
|
||||
GaussianFactor(js), info_(gs | br::transformed(&_getSizeHF), true)
|
||||
{
|
||||
// Get the number of variables
|
||||
size_t variable_count = js.size();
|
||||
|
|
|
|||
|
|
@ -21,7 +21,6 @@
|
|||
#include <gtsam/linear/linearExceptions.h>
|
||||
#include <boost/assign/list_of.hpp>
|
||||
#include <boost/range/adaptor/transformed.hpp>
|
||||
#include <boost/range/join.hpp>
|
||||
#include <boost/range/algorithm/for_each.hpp>
|
||||
#include <boost/foreach.hpp>
|
||||
|
||||
|
|
@ -123,7 +122,7 @@ namespace gtsam {
|
|||
// matrices, then extract the number of columns e.g. dimensions in each matrix. Then joins with
|
||||
// a single '1' to add a dimension for the b vector.
|
||||
{
|
||||
Ab_ = VerticalBlockMatrix(br::join(terms | transformed(&internal::getColsJF), ListOfOne((DenseIndex)1)), b.size());
|
||||
Ab_ = VerticalBlockMatrix(terms | transformed(&internal::getColsJF), b.size(), true);
|
||||
}
|
||||
|
||||
// Check and add terms
|
||||
|
|
|
|||
|
|
@ -283,7 +283,7 @@ namespace gtsam {
|
|||
|
||||
// Allocate matrix and copy keys in order
|
||||
gttic(allocate);
|
||||
Ab_ = VerticalBlockMatrix(boost::join(varDims, ListOfOne((DenseIndex)1)), m); // Allocate augmented matrix
|
||||
Ab_ = VerticalBlockMatrix(varDims, m, true); // Allocate augmented matrix
|
||||
Base::keys_.resize(orderedSlots.size());
|
||||
boost::range::copy( // Get variable keys
|
||||
orderedSlots | boost::adaptors::indirected | boost::adaptors::map_keys, Base::keys_.begin());
|
||||
|
|
|
|||
|
|
@ -0,0 +1,6 @@
|
|||
gtsamAddTestsGlob(linear "test*.cpp" "" "gtsam")
|
||||
|
||||
if(MSVC)
|
||||
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationLinear.cpp"
|
||||
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
|
||||
endif()
|
||||
|
|
@ -114,39 +114,39 @@ TEST(GaussianBayesTree, complicatedMarginal) {
|
|||
// Create the conditionals to go in the BayesTree
|
||||
GaussianBayesTree bt;
|
||||
bt.insertRoot(
|
||||
MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (11, (Matrix(3,1) << 0.0971, 0, 0).finished())
|
||||
(12, (Matrix(3,2) << 0.3171, 0.4387, 0.9502, 0.3816, 0, 0.7655).finished()),
|
||||
2, (Vector(3) << 0.2638, 0.1455, 0.1361).finished()), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (9, (Matrix(3,1) << 0.7952, 0, 0).finished())
|
||||
(10, (Matrix(3,2) << 0.4456, 0.7547, 0.6463, 0.2760, 0, 0.6797).finished())
|
||||
(11, (Matrix(3,1) << 0.6551, 0.1626, 0.1190).finished())
|
||||
(12, (Matrix(3,2) << 0.4984, 0.5853, 0.9597, 0.2238, 0.3404, 0.7513).finished()),
|
||||
2, (Vector(3) << 0.4314, 0.9106, 0.1818).finished())))
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (7, (Matrix(3,1) << 0.2551, 0, 0).finished())
|
||||
(8, (Matrix(3,2) << 0.8909, 0.1386, 0.9593, 0.1493, 0, 0.2575).finished())
|
||||
(11, (Matrix(3,1) << 0.8407, 0.2543, 0.8143).finished()),
|
||||
2, (Vector(3) << 0.3998, 0.2599, 0.8001).finished()), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (5, (Matrix(3,1) << 0.2435, 0, 0).finished())
|
||||
(6, (Matrix(3,2) << 0.4733, 0.1966, 0.3517, 0.2511, 0.8308, 0.0).finished())
|
||||
MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (11, (Matrix(3,1) << 0.0971, 0, 0))
|
||||
(12, (Matrix(3,2) << 0.3171, 0.4387, 0.9502, 0.3816, 0, 0.7655)),
|
||||
2, (Vector(3) << 0.2638, 0.1455, 0.1361)), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (9, (Matrix(3,1) << 0.7952, 0, 0))
|
||||
(10, (Matrix(3,2) << 0.4456, 0.7547, 0.6463, 0.2760, 0, 0.6797))
|
||||
(11, (Matrix(3,1) << 0.6551, 0.1626, 0.1190))
|
||||
(12, (Matrix(3,2) << 0.4984, 0.5853, 0.9597, 0.2238, 0.3404, 0.7513)),
|
||||
2, (Vector(3) << 0.4314, 0.9106, 0.1818))))
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (7, (Matrix(3,1) << 0.2551, 0, 0))
|
||||
(8, (Matrix(3,2) << 0.8909, 0.1386, 0.9593, 0.1493, 0, 0.2575))
|
||||
(11, (Matrix(3,1) << 0.8407, 0.2543, 0.8143)),
|
||||
2, (Vector(3) << 0.3998, 0.2599, 0.8001)), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (5, (Matrix(3,1) << 0.2435, 0, 0))
|
||||
(6, (Matrix(3,2) << 0.4733, 0.1966, 0.3517, 0.2511, 0.8308, 0.0))
|
||||
// NOTE the non-upper-triangular form
|
||||
// here since this test was written when we had column permutations
|
||||
// from LDL. The code still works currently (does not enfore
|
||||
// upper-triangularity in this case) but this test will need to be
|
||||
// redone if this stops working in the future
|
||||
(7, (Matrix(3,1) << 0.5853, 0.5497, 0.9172).finished())
|
||||
(8, (Matrix(3,2) << 0.2858, 0.3804, 0.7572, 0.5678, 0.7537, 0.0759).finished()),
|
||||
2, (Vector(3) << 0.8173, 0.8687, 0.0844).finished()), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (3, (Matrix(3,1) << 0.0540, 0, 0).finished())
|
||||
(4, (Matrix(3,2) << 0.9340, 0.4694, 0.1299, 0.0119, 0, 0.3371).finished())
|
||||
(6, (Matrix(3,2) << 0.1622, 0.5285, 0.7943, 0.1656, 0.3112, 0.6020).finished()),
|
||||
2, (Vector(3) << 0.9619, 0.0046, 0.7749).finished())))
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (1, (Matrix(3,1) << 0.2630, 0, 0).finished())
|
||||
(2, (Matrix(3,2) << 0.7482, 0.2290, 0.4505, 0.9133, 0, 0.1524).finished())
|
||||
(5, (Matrix(3,1) << 0.8258, 0.5383, 0.9961).finished()),
|
||||
2, (Vector(3) << 0.0782, 0.4427, 0.1067).finished())))))))));
|
||||
(7, (Matrix(3,1) << 0.5853, 0.5497, 0.9172))
|
||||
(8, (Matrix(3,2) << 0.2858, 0.3804, 0.7572, 0.5678, 0.7537, 0.0759)),
|
||||
2, (Vector(3) << 0.8173, 0.8687, 0.0844)), list_of
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (3, (Matrix(3,1) << 0.0540, 0, 0))
|
||||
(4, (Matrix(3,2) << 0.9340, 0.4694, 0.1299, 0.0119, 0, 0.3371))
|
||||
(6, (Matrix(3,2) << 0.1622, 0.5285, 0.7943, 0.1656, 0.3112, 0.6020)),
|
||||
2, (Vector(3) << 0.9619, 0.0046, 0.7749))))
|
||||
(MakeClique(GaussianConditional(pair_list_of<Key, Matrix> (1, (Matrix(3,1) << 0.2630, 0, 0))
|
||||
(2, (Matrix(3,2) << 0.7482, 0.2290, 0.4505, 0.9133, 0, 0.1524))
|
||||
(5, (Matrix(3,1) << 0.8258, 0.5383, 0.9961)),
|
||||
2, (Vector(3) << 0.0782, 0.4427, 0.1067))))))))));
|
||||
|
||||
// Marginal on 5
|
||||
Matrix expectedCov = (Matrix(1,1) << 236.5166).finished();
|
||||
Matrix expectedCov = (Matrix(1,1) << 236.5166);
|
||||
//GaussianConditional actualJacobianChol = *bt.marginalFactor(5, EliminateCholesky);
|
||||
GaussianConditional actualJacobianQR = *bt.marginalFactor(5, EliminateQR);
|
||||
//EXPECT(assert_equal(actualJacobianChol, actualJacobianQR)); // Check that Chol and QR obtained marginals are the same
|
||||
|
|
@ -160,10 +160,10 @@ TEST(GaussianBayesTree, complicatedMarginal) {
|
|||
// Marginal on 6
|
||||
// expectedCov = (Matrix(2,2) <<
|
||||
// 8471.2, 2886.2,
|
||||
// 2886.2, 1015.8).finished();
|
||||
// 2886.2, 1015.8);
|
||||
expectedCov = (Matrix(2,2) <<
|
||||
1015.8, 2886.2,
|
||||
2886.2, 8471.2).finished();
|
||||
2886.2, 8471.2);
|
||||
//actualJacobianChol = bt.marginalFactor(6, EliminateCholesky);
|
||||
actualJacobianQR = *bt.marginalFactor(6, EliminateQR);
|
||||
//EXPECT(assert_equal(actualJacobianChol, actualJacobianQR)); // Check that Chol and QR obtained marginals are the same
|
||||
|
|
|
|||
|
|
@ -2,13 +2,8 @@
|
|||
file(GLOB navigation_headers "*.h")
|
||||
install(FILES ${navigation_headers} DESTINATION include/gtsam/navigation)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (navigation_excluded_tests "")
|
||||
|
||||
# Add all tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(navigation "gtsam" "gtsam" "${navigation_excluded_tests}")
|
||||
endif()
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(navigation "test*.cpp" "" "gtsam")
|
||||
|
|
@ -2,16 +2,8 @@
|
|||
file(GLOB nonlinear_headers "*.h")
|
||||
install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(nonlinear_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
"" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(nonlinear "gtsam" "gtsam" "${nonlinear_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(nonlinear "test*.cpp" "" "gtsam")
|
||||
|
|
@ -4,19 +4,10 @@ set (slam_excluded_headers #"")
|
|||
)
|
||||
|
||||
file(GLOB slam_headers "*.h")
|
||||
list(REMOVE_ITEM slam_headers ${slam_excluded_headers})
|
||||
install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(slam_excluded_files
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
|
||||
# "" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(slam "gtsam" "gtsam" "${slam_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -36,6 +36,9 @@ protected:
|
|||
|
||||
public:
|
||||
|
||||
/** default constructor - only use for serialization */
|
||||
PoseTranslationPrior() {}
|
||||
|
||||
/** standard constructor */
|
||||
PoseTranslationPrior(Key key, const Translation& measured, const noiseModel::Base::shared_ptr& model)
|
||||
: Base(model, key), measured_(measured) {
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(slam "test*.cpp" "" "gtsam")
|
||||
|
|
@ -2,16 +2,8 @@
|
|||
file(GLOB symbolic_headers "*.h")
|
||||
install(FILES ${symbolic_headers} DESTINATION include/gtsam/symbolic)
|
||||
|
||||
# Files to exclude from compilation of tests and timing scripts
|
||||
set(symbolic_excluded_files
|
||||
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
|
||||
"" # Add to this list, with full path, to exclude
|
||||
)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
gtsam_add_subdir_tests(symbolic "gtsam" "gtsam" "${symbolic_excluded_files}")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(symbolic "test*.cpp" "" "gtsam")
|
||||
|
|
@ -105,7 +105,7 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
endif()
|
||||
|
||||
# Wrap
|
||||
wrap_and_install_library(gtsam_unstable.h "gtsam;gtsam_unstable" "" "${mexFlags}")
|
||||
wrap_and_install_library(gtsam_unstable.h "gtsam" "" "${mexFlags}")
|
||||
endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -2,16 +2,8 @@
|
|||
file(GLOB base_headers "*.h")
|
||||
install(FILES ${base_headers} DESTINATION include/gtsam_unstable/base)
|
||||
|
||||
set (base_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (base_excluded_tests "")
|
||||
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(base_unstable "${base_full_libs}" "${base_full_libs}" "${base_excluded_tests}")
|
||||
add_dependencies(check.unstable check.base_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(base_unstable "test*.cpp" "" "gtsam_unstable")
|
||||
|
|
@ -2,41 +2,8 @@
|
|||
file(GLOB discrete_headers "*.h")
|
||||
install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
|
||||
|
||||
set (discrete_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
#set (discrete_excluded_tests
|
||||
#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp"
|
||||
#)
|
||||
|
||||
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(discrete_unstable "${discrete_full_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}")
|
||||
add_dependencies(check.unstable check.discrete_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
||||
# List examples to build - comment out here to exclude from compilation
|
||||
set(discrete_unstable_examples
|
||||
schedulingExample
|
||||
schedulingQuals12
|
||||
schedulingQuals13
|
||||
)
|
||||
|
||||
if (GTSAM_BUILD_EXAMPLES)
|
||||
foreach(example ${discrete_unstable_examples})
|
||||
add_executable(${example} "examples/${example}.cpp")
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX)
|
||||
set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_dependencies(examples ${example})
|
||||
add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN})
|
||||
endif()
|
||||
|
||||
target_link_libraries(${example} gtsam gtsam_unstable)
|
||||
endforeach(example)
|
||||
endif (GTSAM_BUILD_EXAMPLES)
|
||||
# Add examples
|
||||
add_subdirectory(examples)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,5 @@
|
|||
set (excluded_examples
|
||||
# fileToExclude.cpp
|
||||
)
|
||||
|
||||
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
|
||||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(discrete_unstable "test*.cpp" "" "gtsam_unstable")
|
||||
|
|
@ -2,14 +2,5 @@
|
|||
file(GLOB dynamics_headers "*.h")
|
||||
install(FILES ${dynamics_headers} DESTINATION include/gtsam_unstable/dynamics)
|
||||
|
||||
# Components to link tests in this subfolder against
|
||||
set (dynamics_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (dynamics_excluded_tests "")
|
||||
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(dynamics_unstable "${dynamics_full_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}")
|
||||
add_dependencies(check.unstable check.dynamics_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(dynamics_unstable "test*.cpp" "" "gtsam_unstable")
|
||||
|
|
@ -1,32 +1,5 @@
|
|||
if(NOT MSVC)
|
||||
add_custom_target(unstable_examples)
|
||||
endif()
|
||||
|
||||
# Build example executables
|
||||
FILE(GLOB example_srcs "*.cpp")
|
||||
foreach(example_src ${example_srcs} )
|
||||
get_filename_component(example_base ${example_src} NAME_WE)
|
||||
set( example_bin ${example_base} )
|
||||
message(STATUS "Adding Example ${example_bin}")
|
||||
if(NOT MSVC)
|
||||
add_dependencies(examples ${example_bin})
|
||||
endif()
|
||||
add_executable(${example_bin} ${example_src})
|
||||
|
||||
# Disable building during make all/install
|
||||
if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
|
||||
set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
|
||||
endif()
|
||||
|
||||
target_link_libraries(${example_bin} gtsam gtsam_unstable)
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
|
||||
endif()
|
||||
|
||||
# Set up Visual Studio folder
|
||||
if(MSVC)
|
||||
set_property(TARGET ${example_bin} PROPERTY FOLDER "Examples")
|
||||
endif()
|
||||
|
||||
endforeach(example_src)
|
||||
set (excluded_examples
|
||||
# fileToExclude.cpp
|
||||
)
|
||||
|
||||
gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
|
||||
|
|
|
|||
|
|
@ -2,14 +2,5 @@
|
|||
file(GLOB geometry_headers "*.h")
|
||||
install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
|
||||
|
||||
# Components to link tests in this subfolder against
|
||||
set (geometry_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (geometry_excluded_tests "")
|
||||
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(geometry_unstable "${geometry_full_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}")
|
||||
add_dependencies(check.unstable check.geometry_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(geometry_unstable "test*.cpp" "" "gtsam_unstable")
|
||||
|
|
@ -2,18 +2,5 @@
|
|||
file(GLOB nonlinear_headers "*.h")
|
||||
install(FILES ${nonlinear_headers} DESTINATION include/gtsam_unstable/nonlinear)
|
||||
|
||||
# Components to link tests in this subfolder against
|
||||
set (nonlinear_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (nonlinear_excluded_tests #"")
|
||||
#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testConcurrentIncrementalFilter.cpp"
|
||||
#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testIncrementalFixedLagSmoother.cpp"
|
||||
)
|
||||
|
||||
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(nonlinear_unstable "${nonlinear_full_libs}" "${nonlinear_full_libs}" "${nonlinear_excluded_tests}")
|
||||
add_dependencies(check.unstable check.nonlinear_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(nonlinear_unstable "test*.cpp" "" "gtsam_unstable")
|
||||
|
|
@ -7,16 +7,5 @@ file(GLOB slam_headers "*.h")
|
|||
list(REMOVE_ITEM slam_headers ${slam_excluded_headers})
|
||||
install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
|
||||
|
||||
# Components to link tests in this subfolder against
|
||||
set (slam_full_libs
|
||||
gtsam
|
||||
gtsam_unstable)
|
||||
|
||||
# Exclude tests that don't work
|
||||
set (slam_excluded_tests
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
|
||||
# "" # Add to this list, with full path, to exclude
|
||||
)
|
||||
# Add all tests
|
||||
gtsam_add_subdir_tests(slam_unstable "${slam_full_libs}" "${slam_full_libs}" "${slam_excluded_tests}")
|
||||
add_dependencies(check.unstable check.slam_unstable)
|
||||
add_subdirectory(tests)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,7 @@
|
|||
|
||||
# Exclude tests that don't work
|
||||
set (slam_excluded_tests
|
||||
testSerialization.cpp
|
||||
)
|
||||
|
||||
gtsamAddTestsGlob(slam_unstable "test*.cpp" "${slam_excluded_tests}" "gtsam_unstable")
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
function covarianceEllipse(x,P,color, k)
|
||||
function h = covarianceEllipse(x,P,color, k)
|
||||
% covarianceEllipse plots a Gaussian as an uncertainty ellipse
|
||||
% Based on Maybeck Vol 1, page 366
|
||||
% k=2.296 corresponds to 1 std, 68.26% of all probability
|
||||
|
|
@ -13,7 +13,7 @@ s1 = s(1,1);
|
|||
s2 = s(2,2);
|
||||
if nargin<4, k = 2.296; end;
|
||||
[ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) );
|
||||
line(ex,ey,'color',color);
|
||||
h = line(ex,ey,'color',color);
|
||||
|
||||
function [x,y] = ellipse(a,b,c);
|
||||
% ellipse: return the x and y coordinates for an ellipse
|
||||
|
|
|
|||
|
|
@ -1,31 +1,19 @@
|
|||
# Assemble local libraries
|
||||
set (tests_full_libs
|
||||
gtsam
|
||||
CppUnitLite)
|
||||
|
||||
# exclude certain files
|
||||
# note the source dir on each
|
||||
set (tests_exclude
|
||||
#"${CMAKE_CURRENT_SOURCE_DIR}/testOccupancyGrid.cpp"
|
||||
)
|
||||
set (tests_exclude "")
|
||||
|
||||
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") # might not be best test - Richard & Jason & Frank
|
||||
# clang linker segfaults on large testSerializationSLAM
|
||||
list (APPEND tests_exclude "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp")
|
||||
list (APPEND tests_exclude "testSerializationSLAM.cpp")
|
||||
endif()
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
# Subdirectory target for tests
|
||||
add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
|
||||
set(is_test TRUE)
|
||||
gtsamAddTestsGlob(tests "test*.cpp" "${tests_exclude}" "gtsam")
|
||||
|
||||
# Build grouped tests
|
||||
gtsam_add_grouped_scripts("tests" # Use subdirectory as group label
|
||||
"test*.cpp;*.h" check "Test" # Standard for all tests
|
||||
"${tests_full_libs}" "${tests_full_libs}" "${tests_exclude}" # Pass in linking and exclusion lists
|
||||
${is_test}) # Set all as tests
|
||||
endif (GTSAM_BUILD_TESTS)
|
||||
if(MSVC)
|
||||
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
|
||||
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
|
||||
endif()
|
||||
|
||||
# Build timing scripts
|
||||
if (GTSAM_BUILD_TIMING)
|
||||
|
|
@ -39,8 +27,3 @@ if (GTSAM_BUILD_TIMING)
|
|||
"${tests_full_libs}" "${tests_full_libs}" "${tests_exclude}" # Pass in linking and exclusion lists
|
||||
${is_test})
|
||||
endif (GTSAM_BUILD_TIMING)
|
||||
|
||||
if(MSVC)
|
||||
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
|
||||
APPEND PROPERTY COMPILE_FLAGS "/bigobj")
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -31,9 +31,5 @@ set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
|||
install(FILES matlab.h DESTINATION include/wrap)
|
||||
|
||||
# Build tests
|
||||
if (GTSAM_BUILD_TESTS)
|
||||
set(wrap_local_libs wrap_lib ${WRAP_BOOST_LIBRARIES})
|
||||
gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "")
|
||||
endif(GTSAM_BUILD_TESTS)
|
||||
|
||||
add_subdirectory(tests)
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
gtsamAddTestsGlob(wrap "test*.cpp" "" "wrap_lib")
|
||||
Loading…
Reference in New Issue