99 lines
3.5 KiB
CMake
99 lines
3.5 KiB
CMake
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 0)
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set (GTSAM_VERSION_MINOR 9)
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set (GTSAM_VERSION_PATCH 3)
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# Set the default install path to home
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set (CMAKE_INSTALL_PREFIX ${HOME} CACHE DOCSTRING "Install prefix for library")
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# guard against in-source builds
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if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
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message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
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endif()
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# guard against bad build-type strings
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Debug")
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endif()
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string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
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if( 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 "relwithdebinfo")
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message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are Debug, Release, RelWithDebInfo (case-insensitive).")
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endif()
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# Add debugging flags
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set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
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set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG -DEIGEN_NO_DEBUG")
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set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG -DEIGEN_NO_DEBUG")
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set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DNDEBUG -Wall -DEIGEN_NO_DEBUG")
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -Wall -DEIGEN_NO_DEBUG")
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# Configurable Options
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option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
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option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON)
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option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
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# Add the Quaternion Build Flag if requested
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if (GTSAM_USE_QUATERNIONS)
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set(CMAKE_C_FLAGS "${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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# Avoid building non-installed exes and unit tests when installing
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# FIXME: breaks generation and install of matlab toolbox
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#set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
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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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# Use macros for creating tests/timing scripts
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set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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include(GtsamTesting)
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# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
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add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
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add_custom_target(timing)
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# Find boost
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find_package(Boost 1.40 COMPONENTS serialization REQUIRED)
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# General build settings
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include_directories(
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gtsam/3rdparty/UFconfig
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gtsam/3rdparty/CCOLAMD/Include
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${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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# Build CppUnitLite
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add_subdirectory(CppUnitLite)
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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 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 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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