106 lines
4.6 KiB
CMake
106 lines
4.6 KiB
CMake
# Build/install Wrap
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# Build the executable itself
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file(GLOB wrap_srcs "*.cpp")
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list(REMOVE_ITEM wrap_srcs wrap.cpp)
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add_library(wrap_lib STATIC ${wrap_srcs})
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add_executable(wrap wrap.cpp)
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target_link_libraries(wrap wrap_lib)
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# Install wrap binary
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if (GTSAM_INSTALL_WRAP)
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install(TARGETS wrap DESTINATION bin)
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endif(GTSAM_INSTALL_WRAP)
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# Install matlab header
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install(FILES matlab.h DESTINATION include/wrap)
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# Build tests
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if (GTSAM_BUILD_TESTS)
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add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
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set(wrap_local_libs wrap_lib)
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gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "")
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endif(GTSAM_BUILD_TESTS)
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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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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam")
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
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set(moduleName gtsam)
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include(GtsamMatlabWrap)
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find_mexextension()
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# get binary path for wrap executable to allow for different build configurations (e.g., ROS)
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if (NOT EXECUTABLE_OUTPUT_PATH)
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set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR})
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endif()
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# Code generation command
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add_custom_target(wrap_gtsam ALL COMMAND
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${EXECUTABLE_OUTPUT_PATH}/wrap
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${MEX_COMMAND}
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${GTSAM_MEX_BIN_EXTENSION}
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${CMAKE_CURRENT_SOURCE_DIR}/../
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${moduleName}
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${toolbox_path}
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"${mexFlags}"
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DEPENDS wrap)
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# Build command
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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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# TODO: pass correct make flags from parent process
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message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
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add_custom_target(wrap_gtsam_build ALL
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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else()
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add_custom_target(wrap_gtsam_build
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COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
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WORKING_DIRECTORY ${toolbox_path}
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DEPENDS wrap_gtsam)
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endif()
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endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
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set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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# Note that we copy the entire contents of the folder blindly - this is because
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# the generated files won't exist at configuration time
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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 ${GTSAM_TOOLBOX_INSTALL_PATH})
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# Examples
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if (GTSAM_INSTALL_MATLAB_EXAMPLES)
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message(STATUS "Installing Matlab Toolbox Examples")
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file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
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install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
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message(STATUS "Installing Matlab Toolbox Examples (Data)")
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# Data files: *.graph and *.txt
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file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_DIR}/examples/Data/*.txt")
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set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
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install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
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endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
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# Tests
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if (GTSAM_INSTALL_MATLAB_TESTS)
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
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install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
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endif (GTSAM_INSTALL_MATLAB_TESTS)
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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