Make matlab wrapping rely completely on the wrap project
Varun Agrawal
parent
6f81bdea7b
commit
f03b12e420
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@ -16,7 +16,6 @@ install(FILES
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dllexport.h.in
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dllexport.h.in
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GtsamBuildTypes.cmake
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GtsamBuildTypes.cmake
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GtsamMakeConfigFile.cmake
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GtsamMakeConfigFile.cmake
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GtsamMatlabWrap.cmake
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GtsamTesting.cmake
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GtsamTesting.cmake
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GtsamPrinting.cmake
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GtsamPrinting.cmake
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FindNumPy.cmake
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FindNumPy.cmake
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@ -1,30 +0,0 @@
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# Set the wrapping script variable
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set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
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# Set up cache options
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option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox")
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
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endif()
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set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE})
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set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS})
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set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH})
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set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH})
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set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
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# Fixup the Python paths
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if(GTWRAP_DIR)
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# packaged
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set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
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else()
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set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap)
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endif()
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include(MatlabWrap)
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if(NOT BUILD_SHARED_LIBS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
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endif()
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@ -67,32 +67,6 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr
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an empty string "" if nothing needs to be excluded.
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an empty string "" if nothing needs to be excluded.
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linkLibraries: The list of libraries to link to.
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linkLibraries: The list of libraries to link to.
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## GtsamMatlabWrap
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include(GtsamMatlabWrap)
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Defines functions for generating MATLAB wrappers. Also immediately creates several CMake options for configuring the wrapper.
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* `wrap_and_install_library(interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)` Generates wrap code and compiles the wrapper.
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Usage example:
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`wrap_and_install_library("lba.h" "" "" "")`
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Arguments:
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interfaceHeader: The relative or absolute path to the wrapper interface
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definition file.
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linkLibraries: Any *additional* libraries to link. Your project library
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(e.g. `lba`), libraries it depends on, and any necessary
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MATLAB libraries will be linked automatically. So normally,
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leave this empty.
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extraIncludeDirs: Any *additional* include paths required by dependent
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libraries that have not already been added by
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include_directories. Again, normally, leave this empty.
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extraMexFlags: Any *additional* flags to pass to the compiler when building
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the wrap code. Normally, leave this empty.
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## GtsamMakeConfigFile
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## GtsamMakeConfigFile
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include(GtsamMakeConfigFile)
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include(GtsamMakeConfigFile)
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@ -204,18 +204,3 @@ else()
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set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error")
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set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error")
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endif()
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endif()
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endif()
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endif()
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# Create the matlab toolbox for the gtsam library
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Set up codegen
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include(GtsamMatlabWrap)
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if(NOT BUILD_SHARED_LIBS)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# Wrap
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wrap_and_install_library(gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
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endif ()
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@ -107,22 +107,6 @@ install(
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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# Wrap version for gtsam_unstable
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if (GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Set up codegen
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include(GtsamMatlabWrap)
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if(NOT BUILD_SHARED_LIBS)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# Wrap
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wrap_and_install_library(gtsam_unstable.i "gtsam" "" "${mexFlags}")
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endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Build examples
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# Build examples
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add_subdirectory(examples)
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add_subdirectory(examples)
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@ -1,44 +1,124 @@
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# Install matlab components
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# Install matlab components
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include(GtsamMatlabWrap)
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# Create the matlab toolbox for the gtsam library
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if(GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Record the root dir for gtsam - needed during external builds, e.g., ROS
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# Set the wrapping script variable
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set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
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set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# Tests
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# Set up cache options
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#message(STATUS "Installing Matlab Toolbox")
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option(GTSAM_MEX_BUILD_STATIC_MODULE
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
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"Build MATLAB wrapper statically (increases build time)" OFF)
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "README-gtsam-toolbox.txt")
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set(GTSAM_BUILD_MEX_BINARY_FLAGS
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""
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CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(GTSAM_TOOLBOX_INSTALL_PATH
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""
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CACHE
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PATH
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"Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox"
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)
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
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endif()
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# Examples
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set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE})
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#message(STATUS "Installing Matlab Toolbox Examples")
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set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS})
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# Matlab files: *.m and *.fig
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set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH})
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#install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" "*.m;*.fig")
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set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH})
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set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
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# Utilities
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# Fixup the Python paths
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#message(STATUS "Installing Matlab Toolbox Utilities")
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if(GTWRAP_DIR)
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#install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m")
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# packaged
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set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
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else()
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set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap)
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endif()
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#message(STATUS "Installing Matlab Toolbox Example Data")
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include(MatlabWrap)
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# Data files: *.graph, *.mat, and *.txt
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file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
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if(NOT BUILD_SHARED_LIBS)
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file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
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message(
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file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
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FATAL_ERROR
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set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt})
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"GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF."
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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"The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries."
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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"If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF."
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string(TOUPPER "${build_type}" build_type_upper)
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)
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if(${build_type_upper} STREQUAL "RELEASE")
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endif()
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set(build_type_tag "") # Don't create release mode tag on installed directory
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else()
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# ############################################################################
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set(build_type_tag "${build_type}")
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# Generate, build and install toolbox
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endif()
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one
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if(NOT BUILD_SHARED_LIBS)
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get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
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endif()
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install(FILES ${matlab_examples_data} DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data" CONFIGURATIONS "${build_type}")
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endforeach()
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# Wrap
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else()
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wrap_and_install_library(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" ""
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install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
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"${mexFlags}")
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endif()
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# Wrap version for gtsam_unstable
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if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if(NOT BUILD_SHARED_LIBS)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# Wrap
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wrap_and_install_library(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" "" "${mexFlags}")
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endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Record the root dir for gtsam - needed during external builds, e.g., ROS
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set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# Tests message(STATUS "Installing Matlab Toolbox")
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/"
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"README-gtsam-toolbox.txt")
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# Examples message(STATUS "Installing Matlab Toolbox Examples") Matlab files:
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# *.m and *.fig
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# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples"
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# "*.m;*.fig")
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# Utilities message(STATUS "Installing Matlab Toolbox Utilities")
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# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m")
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# message(STATUS "Installing Matlab Toolbox Example Data") Data files:
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# *.graph, *.mat, and *.txt
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file(GLOB matlab_examples_data_graph
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_mat
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
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file(GLOB matlab_examples_data_txt
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
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set(matlab_examples_data
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${matlab_examples_data_graph} ${matlab_examples_data_mat}
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${matlab_examples_data_txt})
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed
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# directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if
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# there is one
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get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
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install(
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FILES ${matlab_examples_data}
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DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data"
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CONFIGURATIONS "${build_type}")
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endforeach()
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else()
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install(FILES ${matlab_examples_data}
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DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
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endif()
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endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
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