140 lines
4.7 KiB
Makefile
140 lines
4.7 KiB
Makefile
# Makefile for gtsam/cpp
|
||
# Author Frank Dellaert
|
||
|
||
# on the Mac, libtool is called glibtool :-(
|
||
# documentation see /opt/local/share/doc/libtool-1.5.26/manual.html
|
||
ifeq ($(shell uname),Darwin)
|
||
LIBTOOL = glibtool
|
||
else
|
||
LIBTOOL = libtool
|
||
endif
|
||
|
||
INSTALL = install
|
||
|
||
# C++ flags
|
||
CXXFLAGS += -isystem $(BOOST_DIR) -O5
|
||
CXXFLAGS += -DBOOST_UBLAS_NDEBUG
|
||
|
||
# specify the source files
|
||
# basic
|
||
sources = Vector.cpp svdcmp.cpp Matrix.cpp numericalDerivative.cpp Ordering.cpp
|
||
# nodes
|
||
sources += FGConfig.cpp GaussianFactor.cpp ConditionalGaussian.cpp NonlinearFactor.cpp
|
||
# graphs
|
||
sources += FactorGraph.cpp GaussianFactorGraph.cpp NonlinearFactorGraph.cpp ChordalBayesNet.cpp
|
||
# geometry
|
||
sources += Point2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
|
||
|
||
# The header files will be installed in ~/include/gtsam
|
||
headers = Value.h factor.h linearfactorset.h $(sources:.cpp=.h)
|
||
|
||
# conventional object files
|
||
object_files = $(sources:.cpp=.o)
|
||
|
||
# For libtool to build a shared library, we need "shared" object files with extension .lo
|
||
shared_object_files = $(sources:.cpp=.lo)
|
||
|
||
# rule for shared compiling shared_object_files
|
||
%.lo: %.o
|
||
|
||
# rule for shared compiling shared_object_files
|
||
%.lo: %.cpp
|
||
$(LIBTOOL) --tag=CXX --mode=compile $(COMPILE.cpp) $(OUTPUT_OPTION) $<
|
||
|
||
# library version
|
||
current = 0 # The most recent interface number that this library implements.
|
||
revision = 0 # The implementation number of the current interface
|
||
age = 0 # The difference between the newest and oldest interfaces that \
|
||
this library implements. In other words, the library implements all \
|
||
the interface numbers in the range from number current - age to \
|
||
current.
|
||
# from libtool manual:
|
||
# Here are a set of rules to help you update your library version information:
|
||
# Start with version information of ‘0:0:0’ for each libtool library.
|
||
# Update the version information only immediately before a public release of your software.
|
||
# If the library source code has changed at all since the last update, then increment revision
|
||
# If any interfaces have been added, removed, or changed since the last update, increment current, and set revision to 0.
|
||
# If any interfaces have been added since the last public release, then increment age.
|
||
# If any interfaces have been removed since the last public release, then set age to 0.
|
||
version = $(current):$(revision):$(age)
|
||
|
||
# this builds the shared library
|
||
# note that libgtsam.la is the libtool target
|
||
# the actual library is built in the hidden subdirectory .libs
|
||
libgtsam.la : $(shared_object_files)
|
||
$(LIBTOOL) --tag=CXX --mode=link g++ -version-info $(version) -o libgtsam.la -rpath $(HOME)/lib $(shared_object_files)
|
||
|
||
# shortcut
|
||
lib: libgtsam.la
|
||
|
||
# this builds the static library (used for unit testing)
|
||
# object files will be only ones remade if a file is touched because deps broken
|
||
libgtsam.a : $(shared_object_files) $(object_files)
|
||
$(LIBTOOL) --tag=CXX --mode=link g++ -o libgtsam.a -static $(HOME)/lib $(shared_object_files)
|
||
|
||
# and this installs the shared library
|
||
install: libgtsam.la
|
||
$(INSTALL) -d $(HOME)/include/gtsam
|
||
rm -f $(HOME)/include/gtsam/typedefs.h
|
||
cp -f $(headers) $(HOME)/include/gtsam
|
||
$(LIBTOOL) --mode=install cp libgtsam.la $(HOME)/lib/libgtsam.la
|
||
|
||
# create the MATLAB toolbox
|
||
interfacePath = .
|
||
moduleName = gtsam
|
||
toolboxpath = $(HOME)/toolbox/gtsam
|
||
mexFlags = "-I$(BOOST_DIR) -I$(HOME)/include -I$(HOME)/include/gtsam -L$(HOME)/lib -lgtsam"
|
||
matlab:
|
||
wrap $(interfacePath) $(moduleName) $(toolboxpath) $(mexFlags)
|
||
|
||
# unit tests
|
||
unit-tests = $(shell ls test*.cpp)
|
||
unit-tests: $(unit-tests:.cpp=.run)
|
||
|
||
# timing tests
|
||
timing-tests = $(shell ls time*.cpp)
|
||
timing-tests: $(timing-tests:.cpp=.run)
|
||
|
||
# local executables are for testing and timing
|
||
executables = $(unit-tests:.cpp=) $(timing-tests:.cpp=)
|
||
|
||
# link flags
|
||
INCDIR ?= $(HOME)/include
|
||
LIBDIR ?= $(HOME)/lib
|
||
$(executables) : simulated2D.o smallExample.o libgtsam.a
|
||
$(executables) : LDFLAGS += -I. -I$(INCDIR)
|
||
$(executables) : LDLIBS += libgtsam.a -L$(LIBDIR) -lCppUnitLite
|
||
|
||
tests: unit-tests timing-tests
|
||
clean-tests:
|
||
-rm -rf $(executables)
|
||
|
||
# make a version of timeGaussianFactor instrumented for Saturn profiler
|
||
saturn: timeGaussianFactor
|
||
saturn: CXXFLAGS += -finstrument-functions
|
||
saturn: LDLIBS += -lSaturn
|
||
|
||
# rule to run an executable
|
||
%.run: %
|
||
./$^
|
||
|
||
# clean will remove the hidden .libs directory by libtool as well
|
||
clean: clean-tests
|
||
-rm -rf *.d *.o *.lo *.a *.la .libs *.dSYM
|
||
|
||
.PHONY: clean clean-tests unit-tests timing-tests matlab deps
|
||
|
||
# dependecy generation as described in
|
||
# http://www.wlug.org.nz/MakefileHowto
|
||
all-sources = $(sources) smallExample.cpp simulated2D.cpp
|
||
|
||
# when building object files, -MMD specifies dependency generation into .d files
|
||
(all-sources:.cpp=.o): CXXFLAGS += -MMD
|
||
|
||
deps := $(all-sources:.cpp=.d)
|
||
deps: $(all-sources)
|
||
$(CXX) -MMD -E $(CXXFLAGS) -I. -I$(INCDIR) $(all-sources) > /dev/null
|
||
|
||
-include $(deps)
|
||
|