159 lines
4.6 KiB
CMake
159 lines
4.6 KiB
CMake
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cmake_minimum_required(VERSION 3.4)
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project(Sophus VERSION 1.1.0)
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include(CMakePackageConfigHelpers)
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include(GNUInstallDirs)
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# Release by default
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# Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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set(CMAKE_CXX_STANDARD 11)
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# Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
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IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics")
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ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
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SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++11 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
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SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
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SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
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SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
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ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
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ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
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ENDIF()
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# Add local path for finding packages, set the local version first
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")
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# Find Eigen 3 (dependency)
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find_package(Eigen3 3.3.0 REQUIRED)
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# Define interface library target
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add_library(sophus INTERFACE)
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set(SOPHUS_HEADER_FILES
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sophus/average.hpp
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sophus/common.hpp
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sophus/geometry.hpp
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sophus/interpolate.hpp
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sophus/interpolate_details.hpp
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sophus/num_diff.hpp
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sophus/rotation_matrix.hpp
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sophus/rxso2.hpp
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sophus/rxso3.hpp
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sophus/se2.hpp
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sophus/se3.hpp
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sophus/sim2.hpp
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sophus/sim3.hpp
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sophus/sim_details.hpp
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sophus/so2.hpp
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sophus/so3.hpp
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sophus/types.hpp
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sophus/velocities.hpp
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sophus/formatstring.hpp
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)
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set(SOPHUS_OTHER_FILES
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sophus/test_macros.hpp
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sophus/example_ensure_handler.cpp
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)
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if(MSVC)
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# Define common math constants if we compile with MSVC
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target_compile_definitions (sophus INTERFACE _USE_MATH_DEFINES)
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endif (MSVC)
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# Add Eigen interface dependency, depending on available cmake info
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if(TARGET Eigen3::Eigen)
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target_link_libraries(sophus INTERFACE Eigen3::Eigen)
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set(Eigen3_DEPENDENCY "find_dependency (Eigen3 ${Eigen3_VERSION})")
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else(TARGET Eigen3::Eigen)
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target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
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endif(TARGET Eigen3::Eigen)
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# Associate target with include directory
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target_include_directories(sophus INTERFACE
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
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"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
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)
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# Declare all used C++11 features
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target_compile_features (sophus INTERFACE
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cxx_auto_type
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cxx_decltype
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cxx_nullptr
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cxx_right_angle_brackets
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cxx_variadic_macros
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cxx_variadic_templates
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)
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# Add sources as custom target so that they are shown in IDE's
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add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES})
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# Create 'test' make target using ctest
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option(BUILD_TESTS "Build tests." ON)
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if(BUILD_TESTS)
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enable_testing()
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add_subdirectory(test)
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endif()
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# Create examples make targets using ctest
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option(BUILD_EXAMPLES "Build examples." ON)
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if(BUILD_EXAMPLES)
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add_subdirectory(examples)
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endif()
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# Export package for use from the build tree
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set(SOPHUS_CMAKE_EXPORT_DIR ${CMAKE_INSTALL_DATADIR}/sophus/cmake)
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set_target_properties(sophus PROPERTIES EXPORT_NAME Sophus)
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install(TARGETS sophus EXPORT SophusTargets)
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install(EXPORT SophusTargets
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NAMESPACE Sophus::
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DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
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)
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export(TARGETS sophus NAMESPACE Sophus:: FILE SophusTargets.cmake)
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export(PACKAGE Sophus)
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configure_package_config_file(
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SophusConfig.cmake.in
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${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
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INSTALL_DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
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NO_CHECK_REQUIRED_COMPONENTS_MACRO
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)
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# Remove architecture dependence. Sophus is a header-only library.
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set(TEMP_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
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unset(CMAKE_SIZEOF_VOID_P)
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# Write version to file
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write_basic_package_version_file (
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SophusConfigVersion.cmake
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VERSION ${PROJECT_VERSION}
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COMPATIBILITY SameMajorVersion
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)
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# Recover architecture dependence
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set(CMAKE_SIZEOF_VOID_P ${TEMP_SIZEOF_VOID_P})
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# Install cmake targets
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install(
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FILES ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
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${CMAKE_CURRENT_BINARY_DIR}/SophusConfigVersion.cmake
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DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
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)
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# Install header files
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install(
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FILES ${SOPHUS_HEADER_FILES}
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sophus
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)
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