258 lines
11 KiB
CMake
258 lines
11 KiB
CMake
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project(GTSAM CXX C)
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cmake_minimum_required(VERSION 2.6)
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# Set the version number for the library
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set (GTSAM_VERSION_MAJOR 2)
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set (GTSAM_VERSION_MINOR 1)
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set (GTSAM_VERSION_PATCH 0)
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###############################################################################
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# Gather information, perform checks, set defaults
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# Set the default install path to home
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#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
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set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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include(GtsamMakeConfigFile)
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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 ${CMAKE_CURRENT_SOURCE_DIR})
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# Load build type flags and default to Debug mode
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include(GtsamBuildTypes)
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# Use macros for creating tests/timing scripts
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include(GtsamTesting)
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include(GtsamPrinting)
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# guard against in-source builds
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if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
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message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
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endif()
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# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
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if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
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set(GTSAM_UNSTABLE_AVAILABLE 1)
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else()
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set(GTSAM_UNSTABLE_AVAILABLE 0)
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endif()
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###############################################################################
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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" ON) # 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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if(NOT MSVC)
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option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
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option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON)
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else()
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set(GTSAM_BUILD_STATIC_LIBRARY ON)
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endif()
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
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if(NOT MSVC)
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option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON)
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endif()
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON)
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set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox")
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(MEX_COMMAND "mex" CACHE FILEPATH "Command to use for executing mex (if on path, 'mex' will work)")
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# Check / set dependent variables for MATLAB wrapper
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set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox")
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endif()
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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# Sanity check building of libraries
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if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
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message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
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endif()
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# Add the Quaternion Build Flag if requested
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if (GTSAM_USE_QUATERNIONS)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS")
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endif(GTSAM_USE_QUATERNIONS)
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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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if(CYGWIN OR MSVC OR WIN32)
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set(Boost_USE_STATIC_LIBS 1) # Use static libs on Windows
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endif()
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# FIXME: Need to allow for requiring only components from 1.43, and optionally allow 1.47 components
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find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex timer chrono OPTIONAL)
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# NOTE: likely won't work on second call if >= 1.47 is available
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#find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex REQUIRED)
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#find_package(Boost 1.47 COMPONENTS timer chrono OPTIONAL)
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# Allow for not using the timer libraries on boost < 1.47
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set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
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if(Boost_TIMER_LIBRARY)
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set(GTSAM_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_TIMER_LIBRARY})
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endif()
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###############################################################################
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# Global compile options
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# General build settings
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include_directories(
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gtsam/3rdparty/UFconfig
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gtsam/3rdparty/CCOLAMD/Include
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${CMAKE_SOURCE_DIR}
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CppUnitLite
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${Boost_INCLUDE_DIR})
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link_directories(${Boost_LIBRARY_DIRS})
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###############################################################################
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# Add components
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# Build CppUnitLite
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add_subdirectory(CppUnitLite)
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# Build wrap
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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endif(GTSAM_BUILD_WRAP)
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# Build GTSAM library
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add_subdirectory(gtsam)
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# Build Tests
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add_subdirectory(tests)
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# Build examples
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if (GTSAM_BUILD_EXAMPLES)
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add_subdirectory(examples)
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endif(GTSAM_BUILD_EXAMPLES)
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# Matlab toolbox
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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add_subdirectory(matlab)
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endif()
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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add_subdirectory(gtsam_unstable)
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endif(GTSAM_BUILD_UNSTABLE)
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# Install config and export files
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GtsamMakeConfigFile(GTSAM)
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export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
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# Check for doxygen availability - optional dependency
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find_package(Doxygen)
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# Doxygen documentation - enabling options in subfolder
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if (DOXYGEN_FOUND)
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add_subdirectory(doc)
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endif()
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###############################################################################
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# Set up CPack
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set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
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set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
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set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
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set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
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set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
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set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
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set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
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#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
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#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
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set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
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set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
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set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
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#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
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# Deb-package specific cpack
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set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
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set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
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###############################################################################
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# Print configuration variables
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message(STATUS "===============================================================")
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message(STATUS "================ Configuration Options ======================")
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message(STATUS "Build flags ")
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print_config_flag(${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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if (DOXYGEN_FOUND)
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print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
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endif()
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if(NOT MSVC)
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print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
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endif()
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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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endif()
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print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "Tests excluded from all/install target ")
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print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "Examples excluded from all/install target ")
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string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS "Packaging flags ")
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message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
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message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
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message(STATUS "GTSAM flags ")
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print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3")
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message(STATUS "MATLAB toolbox flags ")
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print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
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print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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message(STATUS "===============================================================")
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# Include CPack *after* all flags
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include(CPack)
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