285 lines
15 KiB
CMake
285 lines
15 KiB
CMake
include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()
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# Set cmake policy to recognize the AppleClang compiler
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# independently from the Clang compiler.
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if(POLICY CMP0025)
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cmake_policy(SET CMP0025 NEW)
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endif()
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# function: list_append_cache(var [new_values ...])
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# Like "list(APPEND ...)" but working for CACHE variables.
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# -----------------------------------------------------------
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function(list_append_cache var)
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set(cur_value ${${var}})
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list(APPEND cur_value ${ARGN})
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get_property(MYVAR_DOCSTRING CACHE ${var} PROPERTY HELPSTRING)
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set(${var} "${cur_value}" CACHE STRING "${MYVAR_DOCSTRING}" FORCE)
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endfunction()
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# function: append_config_if_not_empty(TARGET_VARIABLE build_type)
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# Auxiliary function used to merge configuration-specific flags into the
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# global variables that will actually be send to cmake targets.
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# -----------------------------------------------------------
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function(append_config_if_not_empty TARGET_VARIABLE_ build_type)
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string(TOUPPER "${build_type}" build_type_toupper)
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set(flags_variable_name "${TARGET_VARIABLE_}_${build_type_toupper}")
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set(flags_ ${${flags_variable_name}})
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if (NOT "${flags_}" STREQUAL "")
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if (${build_type_toupper} STREQUAL "COMMON")
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# Special "COMMON" configuration type, just append without CMake expression:
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list_append_cache(${TARGET_VARIABLE_} "${flags_}")
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else()
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# Regular configuration type:
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list_append_cache(${TARGET_VARIABLE_} "$<$<CONFIG:${build_type}>:${flags_}>")
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endif()
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endif()
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endfunction()
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# Add install prefix to search path
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list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")
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# Set up build types for MSVC and XCode
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set(GTSAM_CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
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CACHE STRING "Build types available to MSVC and XCode")
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mark_as_advanced(FORCE GTSAM_CMAKE_CONFIGURATION_TYPES)
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set(CMAKE_CONFIGURATION_TYPES ${GTSAM_CMAKE_CONFIGURATION_TYPES} CACHE STRING "Build configurations" FORCE)
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# Default to Release mode
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if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
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set(GTSAM_CMAKE_BUILD_TYPE "Release" CACHE STRING
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"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo.")
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set(CMAKE_BUILD_TYPE ${GTSAM_CMAKE_BUILD_TYPE} CACHE STRING
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"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
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endif()
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# Add option for using build type postfixes to allow installing multiple build modes
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option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON)
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# Define all cache variables, to be populated below depending on the OS/compiler:
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set(GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE)
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set(GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE)
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private preprocessor macros for all build configurations." FORCE)
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set(GTSAM_COMPILE_DEFINITIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public preprocessor macros for all build configurations." FORCE)
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mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE)
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mark_as_advanced(GTSAM_COMPILE_OPTIONS_PUBLIC)
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mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
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mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
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foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_toupper)
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# Define empty cache variables for "public". "private" are created below.
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set(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public compiler flags (exported to user projects) for `${build_type_toupper}` configuration.")
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set(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper} "" CACHE STRING "(User editable) Public preprocessor macros for `${build_type_toupper}` configuration.")
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endforeach()
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# Common preprocessor macros for each configuration:
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG "_DEBUG;EIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "(User editable) Private preprocessor macros for Debug configuration.")
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for RelWithDebInfo configuration.")
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.")
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.")
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set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.")
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if(MSVC)
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# Common to all configurations:
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
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WINDOWS_LEAN_AND_MEAN
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NOMINMAX
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)
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# Avoid literally hundreds to thousands of warnings:
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list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC
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/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
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)
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endif()
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# Other (non-preprocessor macros) compiler flags:
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if(MSVC)
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# Common to all configurations, next for each configuration:
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON /W3 /GR /EHsc /MP CACHE STRING "(User editable) Private compiler flags for all configurations.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG /MDd /Zi /Ob0 /Od /RTC1 CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO /MD /O2 /D /Zi /d2Zi+ CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE /MD /O2 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING /MD /O2 /Zi CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
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else()
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# Common to all configurations, next for each configuration:
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if (NOT MSVC)
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check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE)
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check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE)
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if (COMPILER_HAS_WSUGGEST_OVERRIDE)
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set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
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elseif(COMPILER_HAS_WMISSING_OVERRIDE)
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set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday
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endif()
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endif()
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
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-Wall # Enable common warnings
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-fPIC # ensure proper code generation for shared libraries
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$<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr -Werror=return-local-addr> # Error: return local address
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$<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address -Werror=return-stack-address> # Error: return local address
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-Wreturn-type -Werror=return-type # Error on missing return()
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-Wformat -Werror=format-security # Error on wrong printf() arguments
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$<$<COMPILE_LANGUAGE:CXX>:${flag_override_}> # Enforce the use of the override keyword
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#
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CACHE STRING "(User editable) Private compiler flags for all configurations.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING -O3 CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
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set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING -g -O3 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
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endif()
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# Enable C++11:
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if (NOT CMAKE_VERSION VERSION_LESS 3.8)
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set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_11" CACHE STRING "CMake compile features property for all gtsam targets.")
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# See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
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# This is to enable -std=c++11 instead of -std=g++11
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set(CMAKE_CXX_EXTENSIONS OFF)
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else()
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# Old cmake versions:
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if (NOT MSVC)
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list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-std=c++11>)
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endif()
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endif()
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# Merge all user-defined flags into the variables that are to be actually used by CMake:
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foreach(build_type "common" ${GTSAM_CMAKE_CONFIGURATION_TYPES})
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append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PRIVATE ${build_type})
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append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PUBLIC ${build_type})
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append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PRIVATE ${build_type})
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append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PUBLIC ${build_type})
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endforeach()
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# Linker flags:
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set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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set(GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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mark_as_advanced(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING
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GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING
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GTSAM_CMAKE_C_FLAGS_PROFILING GTSAM_ GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING
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GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING)
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set(CMAKE_SHARED_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING})
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set(CMAKE_MODULE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING})
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set(CMAKE_EXE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING})
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set(CMAKE_SHARED_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING})
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set(CMAKE_MODULE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING})
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set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING})
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# Clang uses a template depth that is less than standard and is too small
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if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
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# Apple Clang before 5.0 does not support -ftemplate-depth.
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if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
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list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024")
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endif()
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endif()
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if (NOT MSVC)
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option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
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if(GTSAM_BUILD_WITH_MARCH_NATIVE)
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# Add as public flag so all dependant projects also use it, as required
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# by Eigen to avid crashes due to SIMD vectorization:
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list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
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endif()
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endif()
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# Set up build type library postfixes
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type Debug Timing Profiling RelWithDebInfo MinSizeRel)
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string(TOUPPER "${build_type}" build_type_toupper)
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set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
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endforeach()
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endif()
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# Make common binary output directory when on Windows
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if(WIN32)
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set(RUNTIME_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
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set(EXECUTABLE_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
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set(LIBRARY_OUTPUT_PATH "${GTSAM_BINARY_DIR}/lib")
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endif()
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# Set up build type list for cmake-gui
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if(NOT "${CMAKE_BUILD_TYPE}" STREQUAL "")
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if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
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endif()
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endif()
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# Check build types
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string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
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if( NOT cmake_build_type_tolower STREQUAL ""
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AND NOT cmake_build_type_tolower STREQUAL "none"
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AND NOT cmake_build_type_tolower STREQUAL "debug"
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AND NOT cmake_build_type_tolower STREQUAL "release"
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AND NOT cmake_build_type_tolower STREQUAL "timing"
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AND NOT cmake_build_type_tolower STREQUAL "profiling"
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AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo"
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AND NOT cmake_build_type_tolower STREQUAL "minsizerel")
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message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo, MinSizeRel (case-insensitive).")
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endif()
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# Enable Visual Studio solution folders
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set_property(GLOBAL PROPERTY USE_FOLDERS On)
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# Function for automatically assigning source folders
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function(gtsam_assign_source_folders)
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set(FILES ${ARGV})
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foreach(file ${FILES})
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file(RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}")
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get_filename_component(relative_path "${relative_file}" PATH)
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file(TO_NATIVE_PATH "${relative_path}" relative_path)
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source_group("${relative_path}" FILES "${file}")
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endforeach()
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endfunction()
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# Find and assign all source and header files
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function(gtsam_assign_all_source_folders)
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file(GLOB_RECURSE all_c_srcs "*.c")
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file(GLOB_RECURSE all_cpp_srcs "*.cpp")
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file(GLOB_RECURSE all_headers "*.h")
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gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}")
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endfunction()
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# Applies the per-config build flags to the given target (e.g. gtsam, wrap_lib)
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function(gtsam_apply_build_flags target_name_)
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# To enable C++11: the use of target_compile_features() is preferred since
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# it will be not in conflict with a more modern C++ standard, if used in a
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# client program.
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if (NOT "${GTSAM_COMPILE_FEATURES_PUBLIC}" STREQUAL "")
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target_compile_features(${target_name_} PUBLIC ${GTSAM_COMPILE_FEATURES_PUBLIC})
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endif()
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target_compile_definitions(${target_name_} PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
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target_compile_definitions(${target_name_} PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
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if (NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "")
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target_compile_options(${target_name_} PUBLIC ${GTSAM_COMPILE_OPTIONS_PUBLIC})
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endif()
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target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
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endfunction(gtsam_apply_build_flags)
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if(NOT MSVC AND NOT XCODE_VERSION)
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# Set the build type to upper case for downstream use
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string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
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# Set the GTSAM_BUILD_TAG variable.
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# If build type is Release, set to blank (""), else set to the build type.
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if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
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set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
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else()
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set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
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endif()
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endif()
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