110 lines
4.6 KiB
CMake
110 lines
4.6 KiB
CMake
# Build full gtsam_unstable library as a single library
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# and also build tests
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set (gtsam_unstable_subdirs
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base
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discrete
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dynamics
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slam
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)
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add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
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# assemble core libaries
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foreach(subdir ${gtsam_unstable_subdirs})
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# Build convenience libraries
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file(GLOB subdir_srcs "${subdir}/*.cpp")
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set(${subdir}_srcs ${subdir_srcs})
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if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
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message(STATUS "Building Convenience Library: ${subdir}_unstable")
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add_library("${subdir}_unstable" STATIC ${subdir_srcs})
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endif()
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# Build local library and tests
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message(STATUS "Building ${subdir}_unstable")
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add_subdirectory(${subdir})
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endforeach(subdir)
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# assemble gtsam_unstable components
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set(gtsam_unstable_srcs
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${base_srcs}
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${discrete_srcs}
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${dynamics_srcs}
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${slam_srcs}
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)
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option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON)
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# Versions - same as core gtsam library
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set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
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set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
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message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
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message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
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# build shared and static versions of the library
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message(STATUS "Building GTSAM_UNSTABLE - static")
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add_library(gtsam_unstable-static STATIC ${gtsam_unstable_srcs})
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set_target_properties(gtsam_unstable-static PROPERTIES
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OUTPUT_NAME gtsam_unstable
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_unstable_version}
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SOVERSION ${gtsam_unstable_soversion})
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target_link_libraries(gtsam_unstable-static gtsam-static)
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install(TARGETS gtsam_unstable-static ARCHIVE DESTINATION lib)
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if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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message(STATUS "Building GTSAM_UNSTABLE - shared")
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add_library(gtsam_unstable-shared SHARED ${gtsam_unstable_srcs})
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set_target_properties(gtsam_unstable-shared PROPERTIES
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OUTPUT_NAME gtsam_unstable
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_unstable_version}
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SOVERSION ${gtsam_unstable_soversion})
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target_link_libraries(gtsam_unstable-shared gtsam-shared)
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install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib )
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endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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# Wrap version for gtsam_unstable
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if (GTSAM_BUILD_WRAP)
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# Set up codegen
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include(GtsamMatlabWrap)
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# Wrap codegen
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#usage: wrap mexExtension interfacePath moduleName toolboxPath
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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# TODO: generate these includes programmatically
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable")
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
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set(moduleName gtsam_unstable)
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find_mexextension()
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# Code generation command
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add_custom_target(wrap_gtsam_unstable ALL COMMAND
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${CMAKE_BINARY_DIR}/wrap/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}"
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DEPENDS wrap)
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# Build command
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# Experimental: requires matlab to be on your path
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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# Actually compile the mex files when building the library
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set(TOOLBOX_MAKE_FLAGS "-j2")
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add_custom_target(wrap_gtsam_unstable_build
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COMMAND make ${TOOLBOX_MAKE_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam_unstable)
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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endif(GTSAM_BUILD_WRAP)
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