101 lines
4.0 KiB
CMake
101 lines
4.0 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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# linear
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dynamics
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nonlinear
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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 (subdir_srcs AND 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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${dynamics_srcs}
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#${linear_srcs}
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${nonlinear_srcs}
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${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 ${gtsam_unstable_soversion})
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target_link_libraries(gtsam_unstable-static gtsam-static)
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set(gtsam_unstable-lib "gtsam_unstable-static")
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install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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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 ${gtsam_unstable_soversion})
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target_link_libraries(gtsam_unstable-shared gtsam-shared)
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install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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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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# TODO: generate these includes programmatically
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# Choose include flags depending on build process
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if (GTSAM_BUILD_MEX_BIN)
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set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
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set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR})
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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam)
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable)
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else()
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set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include)
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set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib)
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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT})
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT})
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endif()
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# Generate, build and install toolbox
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${GTSAM_UNSTABLE_LIB_DIR} -L${GTSAM_LIB_DIR} -lgtsam -lgtsam_unstable")
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# Macro to handle details of setting up targets
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wrap_library(gtsam_unstable "${mexFlags}" "./")
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endif(GTSAM_BUILD_WRAP)
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