125 lines
5.2 KiB
CMake
125 lines
5.2 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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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
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if (GTSAM_INSTALL_WRAP)
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install(TARGETS wrap DESTINATION ${CMAKE_INSTALL_PREFIX}/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 ${CMAKE_INSTALL_PREFIX}/include/wrap)
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# Build tests
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if (GTSAM_BUILD_TESTS)
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add_custom_target(check.wrap COMMAND ${CMAKE_CTEST_COMMAND})
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file(GLOB wrap_test_srcs "tests/test*.cpp")
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add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
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foreach(test_src ${wrap_test_srcs} )
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get_filename_component(test_base ${test_src} NAME_WE)
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set( test_bin wrap.${test_base} )
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add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
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add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
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add_dependencies(check ${test_bin})
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add_dependencies(check.wrap ${test_bin})
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target_link_libraries(${test_bin} CppUnitLite gtsam-static wrap_lib)
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add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
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endforeach(test_src)
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endif(GTSAM_BUILD_TESTS)
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# Wrap codegen
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#usage: wrap mexExtension interfacePath moduleName toolboxPath
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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set(mexFlags "-I${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/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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## Determine the mex extension
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# Apple Macintosh (64-bit) mexmaci64
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# Linux (32-bit) mexglx
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# Linux (64-bit) mexa64
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# Microsoft Windows (32-bit) mexw32
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# Windows (64-bit) mexw64
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# only support 64-bit apple
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if(CMAKE_HOST_APPLE)
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set(mex_bin_extension_default mexmaci64)
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endif(CMAKE_HOST_APPLE)
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if(NOT CMAKE_HOST_APPLE)
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# check 64 bit
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if( ${CMAKE_SIZEOF_VOID_P} EQUAL 4 )
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set( HAVE_64_BIT 0 )
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endif( ${CMAKE_SIZEOF_VOID_P} EQUAL 4 )
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if( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
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set( HAVE_64_BIT 1 )
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endif( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
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# Check for linux machines
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if (CMAKE_HOST_UNIX)
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if (HAVE_64_BIT)
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set(mex_bin_extension_default mexa64)
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else (HAVE_64_BIT)
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set(mex_bin_extension_default mexglx)
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endif (HAVE_64_BIT)
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endif(CMAKE_HOST_UNIX)
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# Check for windows machines
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if (CMAKE_HOST_WIN32)
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if (HAVE_64_BIT)
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set(mex_bin_extension_default mexw64)
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else (HAVE_64_BIT)
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set(mex_bin_extension_default mexw32)
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endif (HAVE_64_BIT)
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endif(CMAKE_HOST_WIN32)
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endif(NOT CMAKE_HOST_APPLE)
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# Allow for setting mex extension manually
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set(mex_bin_extension ${mex_bin_extension_default} CACHE DOCSTRING "Extension for matlab mex files")
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message(STATUS "Detected Matlab mex extension: ${mex_bin_extension_default}")
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message(STATUS "Current Matlab mex extension: ${mex_bin_extension}")
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# Actual build commands - separated by OS
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add_custom_target(wrap_gtsam COMMAND
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./wrap ${mex_bin_extension} ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON)
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option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
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option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
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set(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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message(STATUS "Installing Matlab Toolbox to ${toolbox_install_path}")
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install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.m")
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install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.cpp")
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install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "Makefile")
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# Examples
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if (GTSAM_INSTALL_MATLAB_EXAMPLES)
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message(STATUS "Installing Matlab Toolbox Examples")
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file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
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install(FILES ${matlab_examples} DESTINATION ${toolbox_install_path}/gtsam/examples)
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endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
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# Tests
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if (GTSAM_INSTALL_MATLAB_TESTS)
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message(STATUS "Installing Matlab Toolbox Tests")
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file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
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install(FILES ${matlab_tests} DESTINATION ${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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