268 lines
11 KiB
Makefile
268 lines
11 KiB
Makefile
# on the Mac, libtool is called glibtool :-(
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# documentation see /opt/local/share/doc/libtool-1.5.26/manual.html
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if DARWIN
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LIBTOOL = glibtool --tag=CXX
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else
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LIBTOOL = libtool
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endif
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# the install destination
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includedir = ${prefix}/include/gtsam
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libdir = ${exec_prefix}/lib
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# library version
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current = 0 # The most recent interface number that this library implements.
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revision = 0 # The implementation number of the current interface
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age = 0 # The difference between the newest and oldest interfaces that \
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this library implements. In other words, the library implements all \
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the interface numbers in the range from number current - age to \
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current.
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# from libtool manual:
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# Here are a set of rules to help you update your library version information:
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# Start with version information of ‘0:0:0’ for each libtool library.
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# - Update the version information only immediately before a public
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# release of your software.
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# - If the library source code has changed at all since the last
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# update, then increment revision
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# - If any interfaces have been added, removed, or changed since the
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# last update, increment current, and set revision to 0.
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# - If any interfaces have been added since the last public release,
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# then increment age.
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# - If any interfaces have been removed since the last public release,
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# then set age to 0.
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version = $(current):$(revision):$(age)
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external_libs:
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@echo Compiling CppUnitLite...; cd ../CppUnitLite; make all
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@echo Compiling Colamd...; cd ../colamd; make all
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clean : clean_external_libs
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@echo Cleaning Cpp...; rm -f *.o *.lo *.*~ libgtsam.la $(check_PROGRAMS)
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clean_external_libs:
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@echo Cleaning CppUnitLite...; cd ../CppUnitLite; make clean
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@echo Cleaning Colamd...; cd ../colamd; make clean
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# we specify the library in levels
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# basic Math
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sources = Vector.cpp svdcmp.cpp Matrix.cpp numericalDerivative.cpp
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check_PROGRAMS = testVector testMatrix
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testVector_SOURCES = testVector.cpp
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testVector_LDADD = libgtsam.la
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testMatrix_SOURCES = testMatrix.cpp
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testMatrix_LDADD = libgtsam.la
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# GTSAM basics
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# The header files will be installed in ~/include/gtsam
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headers = gtsam.h Value.h Testable.h Factor.h Conditional.h
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sources += Ordering.cpp
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example = smallExample.cpp
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# Symbolic Inference
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headers += SymbolicConditional.h
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sources += SymbolicFactor.cpp SymbolicFactorGraph.cpp SymbolicBayesNet.cpp
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check_PROGRAMS += testSymbolicFactor testSymbolicFactorGraph testSymbolicBayesNet
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testSymbolicFactor_SOURCES = $(example) testSymbolicFactor.cpp
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testSymbolicFactor_LDADD = libgtsam.la
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testSymbolicFactorGraph_SOURCES = $(example) testSymbolicFactorGraph.cpp
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testSymbolicFactorGraph_LDADD = libgtsam.la
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testSymbolicBayesNet_SOURCES = $(example) testSymbolicBayesNet.cpp
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testSymbolicBayesNet_LDADD = libgtsam.la
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# Inference
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headers += inference.h inference-inl.h
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headers += FactorGraph.h FactorGraph-inl.h
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headers += BayesNet.h BayesNet-inl.h
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headers += BayesTree.h BayesTree-inl.h GaussianBayesTree.h
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sources += GaussianBayesTree.cpp
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check_PROGRAMS += testFactorgraph testBayesTree testGaussianBayesTree testInference testOrdering
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testFactorgraph_SOURCES = testFactorgraph.cpp
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testBayesTree_SOURCES = $(example) testBayesTree.cpp
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testGaussianBayesTree_SOURCES = $(example) testGaussianBayesTree.cpp
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testInference_SOURCES = $(example) testInference.cpp
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testFactorgraph_LDADD = libgtsam.la
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testBayesTree_LDADD = libgtsam.la
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testGaussianBayesTree_LDADD = libgtsam.la
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testInference_LDADD = libgtsam.la
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testOrdering_SOURCES = testOrdering.cpp
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testOrdering_LDADD = libgtsam.la
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# Binary Inference
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headers += BinaryConditional.h
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check_PROGRAMS += testBinaryBayesNet
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testBinaryBayesNet_SOURCES = testBinaryBayesNet.cpp
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testBinaryBayesNet_LDADD = libgtsam.la
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# Gaussian inference
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headers += GaussianFactorSet.h
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sources += VectorConfig.cpp GaussianFactor.cpp GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
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check_PROGRAMS += testVectorConfig testGaussianFactor testGaussianFactorGraph testGaussianConditional testGaussianBayesNet
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testVectorConfig_SOURCES = testVectorConfig.cpp
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testVectorConfig_LDADD = libgtsam.la
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testGaussianFactor_SOURCES = $(example) testGaussianFactor.cpp
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testGaussianFactor_LDADD = libgtsam.la
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testGaussianFactorGraph_SOURCES = $(example) testGaussianFactorGraph.cpp
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testGaussianFactorGraph_LDADD = libgtsam.la
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testGaussianConditional_SOURCES = $(example) testGaussianConditional.cpp
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testGaussianConditional_LDADD = libgtsam.la
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testGaussianBayesNet_SOURCES = $(example) testGaussianBayesNet.cpp
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testGaussianBayesNet_LDADD = libgtsam.la
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# not the correct way, I'm sure: Kai ?
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timeGaussianFactor: timeGaussianFactor.cpp
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timeGaussianFactor: CXXFLAGS += -I /opt/local/include
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timeGaussianFactor: LDFLAGS += -L.libs -lgtsam
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# not the correct way, I'm sure: Kai ?
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timeGaussianFactorGraph: timeGaussianFactorGraph.cpp
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timeGaussianFactorGraph: CXXFLAGS += -I /opt/local/include -I ..
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timeGaussianFactorGraph: LDFLAGS += smallExample.o -L.libs -lgtsam -L../CppUnitLite -lCppUnitLite
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# Nonlinear inference
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headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
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headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h
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sources += NonlinearFactor.cpp
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check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer
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testNonlinearFactor_SOURCES = $(example) testNonlinearFactor.cpp
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testNonlinearFactor_LDADD = libgtsam.la
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testNonlinearFactorGraph_SOURCES = $(example) testNonlinearFactorGraph.cpp
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testNonlinearFactorGraph_LDADD = libgtsam.la
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testNonlinearOptimizer_SOURCES = $(example) testNonlinearOptimizer.cpp
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testNonlinearOptimizer_LDADD = libgtsam.la
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# Nonlinear constraints
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headers += SQPOptimizer.h SQPOptimizer-inl.h
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headers += NonlinearConstraint.h NonlinearConstraint-inl.h
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headers += NonlinearEquality.h
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check_PROGRAMS += testNonlinearConstraint testNonlinearEquality testSQP testSQPOptimizer
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testNonlinearConstraint_SOURCES = testNonlinearConstraint.cpp
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testNonlinearConstraint_LDADD = libgtsam.la
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testNonlinearEquality_SOURCES = testNonlinearEquality.cpp
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testNonlinearEquality_LDADD = libgtsam.la
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testSQP_SOURCES = $(example) testSQP.cpp
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testSQP_LDADD = libgtsam.la
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testSQPOptimizer_SOURCES = $(example) testSQPOptimizer.cpp
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testSQPOptimizer_LDADD = libgtsam.la
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# geometry
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sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
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check_PROGRAMS += testPoint2 testRot2 testPose2 testPoint3 testRot3 testPose3 testCal3_S2
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testPoint2_SOURCES = testPoint2.cpp
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testRot2_SOURCES = testRot2.cpp
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testPose2_SOURCES = testPose2.cpp
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testPoint3_SOURCES = testPoint3.cpp
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testRot3_SOURCES = testRot3.cpp
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testPose3_SOURCES = testPose3.cpp
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testCal3_S2_SOURCES = testCal3_S2.cpp
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testPoint2_LDADD = libgtsam.la
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testRot2_LDADD = libgtsam.la
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testPose2_LDADD = libgtsam.la
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testPoint3_LDADD = libgtsam.la
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testRot3_LDADD = libgtsam.la
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testPose3_LDADD = libgtsam.la
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testCal3_S2_LDADD = libgtsam.la
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# simulated2D example
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sources += simulated2D.cpp
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testSimulated2D_SOURCES = testSimulated2D.cpp
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testSimulated2D_LDADD = libgtsam.la
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check_PROGRAMS += testSimulated2D
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# simulated3D example
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sources += Simulated3D.cpp
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testSimulated3D_SOURCES = testSimulated3D.cpp
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testSimulated3D_LDADD = libgtsam.la
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check_PROGRAMS += testSimulated3D
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# Pose constraints
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headers += Pose2Config.h Pose2Factor.h
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sources += Pose3Factor.cpp Pose2Graph.cpp
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check_PROGRAMS += testPose2Factor testPose2Graph testPose3Factor
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testPose2Factor_SOURCES = $(example) testPose2Factor.cpp
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testPose2Factor_LDADD = libgtsam.la
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testPose2Graph_SOURCES = $(example) testPose2Graph.cpp
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testPose2Graph_LDADD = libgtsam.la
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testPose3Factor_SOURCES = $(example) testPose3Factor.cpp
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testPose3Factor_LDADD = libgtsam.la
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# Urban
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sources += UrbanFactor.cpp UrbanConfig.cpp UrbanMeasurement.cpp UrbanOdometry.cpp UrbanGraph.cpp
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check_PROGRAMS += testUrbanConfig testUrbanMeasurement testUrbanOdometry testUrbanGraph
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testUrbanConfig_SOURCES = $(example) testUrbanConfig.cpp
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testUrbanConfig_LDADD = libgtsam.la
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testUrbanMeasurement_SOURCES = $(example) testUrbanMeasurement.cpp
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testUrbanMeasurement_LDADD = libgtsam.la
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testUrbanOdometry_SOURCES = $(example) testUrbanOdometry.cpp
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testUrbanOdometry_LDADD = libgtsam.la
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testUrbanGraph_SOURCES = $(example) testUrbanGraph.cpp
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testUrbanGraph_LDADD = libgtsam.la
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# Robot Control example system
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sources += ControlConfig.cpp ControlPoint.cpp ControlGraph.cpp
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check_PROGRAMS += testControlConfig testControlPoint testControlGraph
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testControlConfig_SOURCES = testControlConfig.cpp
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testControlConfig_LDADD = libgtsam.la
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testControlPoint_SOURCES = testControlPoint.cpp
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testControlPoint_LDADD = libgtsam.la
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testControlGraph_SOURCES = testControlGraph.cpp
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testControlGraph_LDADD = libgtsam.la
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# Cameras
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sources += CalibratedCamera.cpp SimpleCamera.cpp
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check_PROGRAMS += testCalibratedCamera testSimpleCamera
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testCalibratedCamera_SOURCES = testCalibratedCamera.cpp
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testCalibratedCamera_LDADD = libgtsam.la
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testSimpleCamera_SOURCES = testSimpleCamera.cpp
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testSimpleCamera_LDADD = libgtsam.la
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# Visual SLAM
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sources += VSLAMConfig.cpp VSLAMGraph.cpp VSLAMFactor.cpp
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check_PROGRAMS += testVSLAMFactor testVSLAMGraph testVSLAMConfig
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testVSLAMFactor_SOURCES = testVSLAMFactor.cpp
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testVSLAMFactor_LDADD = libgtsam.la
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testVSLAMGraph_SOURCES = testVSLAMGraph.cpp
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testVSLAMGraph_LDADD = libgtsam.la
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testVSLAMConfig_SOURCES = testVSLAMConfig.cpp
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testVSLAMConfig_LDADD = libgtsam.la
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headers += Point2Prior.h Simulated2DOdometry.h Simulated2DMeasurement.h smallExample.h
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headers += $(sources:.cpp=.h)
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# create both dynamic and static libraries
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AM_CXXFLAGS = -I$(boost) -fPIC
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lib_LTLIBRARIES = libgtsam.la
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libgtsam_la_SOURCES = $(sources)
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libgtsam_la_CPPFLAGS = $(AM_CXXFLAGS)
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libgtsam_la_LDFLAGS = -version-info $(version) -L../colamd -lcolamd #-lboost_serialization-mt
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# enable debug if --enable-debug is set in configure
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if DEBUG
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AM_CXXFLAGS += -g
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endif
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# install the header files
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include_HEADERS = $(headers)
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AM_CXXFLAGS += -I..
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AM_LDFLAGS = -L../CppUnitLite -lCppUnitLite $(BOOST_LDFLAGS) $(boost_serialization) #-L. -lgtsam
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TESTS = $(check_PROGRAMS)
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CXXLINK = $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=link \
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$(CXXLD) -g $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \
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-o $@ # CXXLINK is only used for unit tests
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# rule to run an executable
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%.run: % libgtsam.la
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./$^
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# to compile colamd and cppunitlite first when make all and make install.
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# The part after external_libs is copied from automatically generated Makefile when without the following line
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libgtsam.la: external_libs $(libgtsam_la_OBJECTS) $(libgtsam_la_DEPENDENCIES)
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$(libgtsam_la_LINK) -rpath $(libdir) $(libgtsam_la_OBJECTS) $(libgtsam_la_LIBADD) $(LIBS)
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