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# function: list_append_cache(var [new_values ...])
# Like "list(APPEND ...)" but working for CACHE variables.
# -----------------------------------------------------------
function ( list_append_cache var )
set ( cur_value ${ ${var } } )
list ( APPEND cur_value ${ ARGN } )
get_property ( MYVAR_DOCSTRING CACHE ${ var } PROPERTY HELPSTRING )
set ( ${ var } "${cur_value}" CACHE STRING "${MYVAR_DOCSTRING}" FORCE )
endfunction ( )
# function: append_config_if_not_empty(TARGET_VARIABLE build_type)
# Auxiliary function used to merge configuration-specific flags into the
# global variables that will actually be send to cmake targets.
# -----------------------------------------------------------
function ( append_config_if_not_empty TARGET_VARIABLE_ build_type )
string ( TOUPPER "${build_type}" build_type_toupper )
set ( flags_variable_name "${TARGET_VARIABLE_}_${build_type_toupper}" )
set ( flags_ ${ ${flags_variable_name } } )
if ( NOT "${flags_}" STREQUAL "" )
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if ( ${ build_type_toupper } STREQUAL "COMMON" )
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# Special "COMMON" configuration type, just append without CMake expression:
list_append_cache ( ${ TARGET_VARIABLE_ } "${flags_}" )
else ( )
# Regular configuration type:
list_append_cache ( ${ TARGET_VARIABLE_ } "$<$<CONFIG:${build_type}>:${flags_}>" )
endif ( )
endif ( )
endfunction ( )
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# Add install prefix to search path
list ( APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}" )
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# Set up build types for MSVC and XCode
set ( GTSAM_CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
C A C H E S T R I N G " B u i l d t y p e s a v a i l a b l e t o MSVC a n d X C o d e " )
mark_as_advanced ( FORCE GTSAM_CMAKE_CONFIGURATION_TYPES )
set ( CMAKE_CONFIGURATION_TYPES ${ GTSAM_CMAKE_CONFIGURATION_TYPES } CACHE STRING "Build configurations" FORCE )
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# Default to Release mode
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if ( NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION )
set ( GTSAM_CMAKE_BUILD_TYPE "Release" CACHE STRING
" C h o o s e t h e t y p e o f b u i l d , o p t i o n s a r e : N o n e D e b u g R e l e a s e T i m i n g P r o f i l i n g R e l W i t h D e b I n f o . " )
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set ( CMAKE_BUILD_TYPE ${ GTSAM_CMAKE_BUILD_TYPE } CACHE STRING
" C h o o s e t h e t y p e o f b u i l d , o p t i o n s a r e : N o n e D e b u g R e l e a s e T i m i n g P r o f i l i n g R e l W i t h D e b I n f o . " F O R C E )
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endif ( )
# Add option for using build type postfixes to allow installing multiple build modes
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option ( GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON )
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# Define all cache variables, to be populated below depending on the OS/compiler:
set ( GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE STRING "(Do not edit) Private compiler flags for all build configurations." FORCE )
set ( GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE STRING "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE )
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE "" CACHE STRING "(Do not edit) Private preprocessor macros for all build configurations." FORCE )
set ( GTSAM_COMPILE_DEFINITIONS_PUBLIC "" CACHE STRING "(Do not edit) Public preprocessor macros for all build configurations." FORCE )
mark_as_advanced ( GTSAM_COMPILE_OPTIONS_PRIVATE )
mark_as_advanced ( GTSAM_COMPILE_OPTIONS_PUBLIC )
mark_as_advanced ( GTSAM_COMPILE_DEFINITIONS_PRIVATE )
mark_as_advanced ( GTSAM_COMPILE_DEFINITIONS_PUBLIC )
foreach ( build_type ${ GTSAM_CMAKE_CONFIGURATION_TYPES } )
string ( TOUPPER "${build_type}" build_type_toupper )
# Define empty cache variables for "public". "private" are creaed below.
set ( GTSAM_COMPILE_OPTIONS_PUBLIC_ ${ build_type_toupper } "" CACHE STRING "(User editable) Public compiler flags (exported to user projects) for `${build_type_toupper}` configuration." )
set ( GTSAM_COMPILE_DEFINITIONS_PUBLIC_ ${ build_type_toupper } "" CACHE STRING "(User editable) Public preprocessor macros for `${build_type_toupper}` configuration." )
endforeach ( )
# Common preprocessor macros for each configuration:
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG "_DEBUG;EIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "(User editable) Private preprocessor macros for Debug configuration." )
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for RelWithDebInfo configuration." )
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration." )
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration." )
set ( GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration." )
if ( MSVC )
# Common to all configurations:
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list_append_cache ( GTSAM_COMPILE_DEFINITIONS_PRIVATE
W I N D O W S _ L E A N _ A N D _ M E A N
N O M I N M A X
)
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# Avoid literally hundreds to thousands of warnings:
list_append_cache ( GTSAM_COMPILE_OPTIONS_PUBLIC
/ w d 4 2 6 7 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
)
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endif ( )
# Other (non-preprocessor macros) compiler flags:
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if ( MSVC )
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# Common to all configurations, next for each configuration:
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON /W3 /GR /EHsc /MP CACHE STRING "(User editable) Private compiler flags for all configurations." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG /MDd /Zi /Ob0 /Od /RTC1 CACHE STRING "(User editable) Private compiler flags for Debug configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO /MD /O2 /D /Zi /d2Zi+ CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE /MD /O2 CACHE STRING "(User editable) Private compiler flags for Release configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING /MD /O2 /Zi CACHE STRING "(User editable) Private compiler flags for Profiling configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration." )
else ( )
# Common to all configurations, next for each configuration:
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# "-fPIC" is to ensure proper code generation for shared libraries
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON -Wall -fPIC CACHE STRING "(User editable) Private compiler flags for all configurations." )
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set ( GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING -O3 CACHE STRING "(User editable) Private compiler flags for Profiling configuration." )
set ( GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING -g -O3 CACHE STRING "(User editable) Private compiler flags for Timing configuration." )
endif ( )
# Enable C++11:
if ( NOT CMAKE_VERSION VERSION_LESS 3.8 )
set ( GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_11" CACHE STRING "CMake compile features property for all gtsam targets." )
# See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
# This is to enable -std=c++11 instead of -std=g++11
set ( CMAKE_CXX_EXTENSIONS OFF )
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else ( )
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# Old cmake versions:
if ( NOT MSVC )
list_append_cache ( GTSAM_COMPILE_OPTIONS_PUBLIC $< $<COMPILE_LANGUAGE:CXX > :-std=c++11> )
endif ( )
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endif ( )
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# Merge all user-defined flags into the variables that are to be actually used by CMake:
foreach ( build_type "common" ${ GTSAM_CMAKE_CONFIGURATION_TYPES } )
append_config_if_not_empty ( GTSAM_COMPILE_OPTIONS_PRIVATE ${ build_type } )
append_config_if_not_empty ( GTSAM_COMPILE_OPTIONS_PUBLIC ${ build_type } )
append_config_if_not_empty ( GTSAM_COMPILE_DEFINITIONS_PRIVATE ${ build_type } )
append_config_if_not_empty ( GTSAM_COMPILE_DEFINITIONS_PUBLIC ${ build_type } )
endforeach ( )
# Linker flags:
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set ( GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." )
set ( GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." )
set ( GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." )
set ( GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." )
set ( GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." )
set ( GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." )
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mark_as_advanced ( GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING
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G T S A M _ C M A K E _ S H A R E D _ L I N K E R _ F L A G S _ T I M I N G G T S A M _ C M A K E _ M O D U L E _ L I N K E R _ F L A G S _ T I M I N G
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G T S A M _ C M A K E _ C _ F L A G S _ P R O F I L I N G G T S A M _ G T S A M _ C M A K E _ E X E _ L I N K E R _ F L A G S _ P R O F I L I N G
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G T S A M _ C M A K E _ S H A R E D _ L I N K E R _ F L A G S _ P R O F I L I N G G T S A M _ C M A K E _ M O D U L E _ L I N K E R _ F L A G S _ P R O F I L I N G )
set ( CMAKE_SHARED_LINKER_FLAGS_TIMING ${ GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING } )
set ( CMAKE_MODULE_LINKER_FLAGS_TIMING ${ GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING } )
set ( CMAKE_EXE_LINKER_FLAGS_TIMING ${ GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING } )
set ( CMAKE_SHARED_LINKER_FLAGS_PROFILING ${ GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING } )
set ( CMAKE_MODULE_LINKER_FLAGS_PROFILING ${ GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING } )
set ( CMAKE_EXE_LINKER_FLAGS_PROFILING ${ GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING } )
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# Clang uses a template depth that is less than standard and is too small
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if ( ${ CMAKE_CXX_COMPILER_ID } STREQUAL "Clang" )
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# Apple Clang before 5.0 does not support -ftemplate-depth.
if ( NOT ( APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0" ) )
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list_append_cache ( GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024" )
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endif ( )
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endif ( )
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if ( NOT MSVC )
option ( GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON )
if ( GTSAM_BUILD_WITH_MARCH_NATIVE )
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# Add as public flag so all dependant projects also use it, as required
# by Eigen to avid crashes due to SIMD vectorization:
list_append_cache ( GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native" )
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endif ( )
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endif ( )
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# Set up build type library postfixes
if ( GTSAM_BUILD_TYPE_POSTFIXES )
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foreach ( build_type Debug Timing Profiling RelWithDebInfo MinSizeRel )
string ( TOUPPER "${build_type}" build_type_toupper )
set ( CMAKE_ ${ build_type_toupper } _POSTFIX ${ build_type } )
endforeach ( )
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endif ( )
# Make common binary output directory when on Windows
if ( WIN32 )
set ( RUNTIME_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin" )
set ( EXECUTABLE_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin" )
set ( LIBRARY_OUTPUT_PATH "${CMAKE_BINARY_DIR}/lib" )
endif ( )
# Set up build type list for cmake-gui
if ( NOT "${CMAKE_BUILD_TYPE}" STREQUAL "" )
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if ( ${ CMAKE_MAJOR_VERSION } . ${ CMAKE_MINOR_VERSION } VERSION_GREATER 2.8 OR ${ CMAKE_MAJOR_VERSION } . ${ CMAKE_MINOR_VERSION } VERSION_EQUAL 2.8 )
set_property ( CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel )
endif ( )
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endif ( )
# Check build types
string ( TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower )
if ( NOT cmake_build_type_tolower STREQUAL ""
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " n o n e "
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " d e b u g "
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " r e l e a s e "
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " t i m i n g "
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " p r o f i l i n g "
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A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " r e l w i t h d e b i n f o "
A N D N O T c m a k e _ b u i l d _ t y p e _ t o l o w e r S T R E Q U A L " m i n s i z e r e l " )
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message ( FATAL_ERROR "Unknown build type \" ${ CMAKE_BUILD_TYPE } \". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo, MinSizeRel ( case-insensitive ) . " )
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endif ( )
# Enable Visual Studio solution folders
set_property ( GLOBAL PROPERTY USE_FOLDERS On )
# Function for automatically assigning source folders
function ( gtsam_assign_source_folders )
set ( FILES ${ ARGV } )
foreach ( file ${ FILES } )
file ( RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}" )
get_filename_component ( relative_path "${relative_file}" PATH )
file ( TO_NATIVE_PATH "${relative_path}" relative_path )
source_group ( "${relative_path}" FILES "${file}" )
endforeach ( )
endfunction ( )
# Find and assign all source and header files
function ( gtsam_assign_all_source_folders )
file ( GLOB_RECURSE all_c_srcs "*.c" )
file ( GLOB_RECURSE all_cpp_srcs "*.cpp" )
file ( GLOB_RECURSE all_headers "*.h" )
gtsam_assign_source_folders ( "${all_c_srcs};${all_cpp_srcs};${all_headers}" )
endfunction ( )
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# Applies the per-config build flags to the given target (e.g. gtsam, wrap_lib)
function ( gtsam_apply_build_flags target_name_ )
# To enable C++11: the use of target_compile_features() is preferred since
# it will be not in conflict with a more modern C++ standard, if used in a
# client program.
if ( NOT "${GTSAM_COMPILE_FEATURES_PUBLIC}" STREQUAL "" )
target_compile_features ( ${ target_name_ } PUBLIC ${ GTSAM_COMPILE_FEATURES_PUBLIC } )
endif ( )
target_compile_definitions ( ${ target_name_ } PRIVATE ${ GTSAM_COMPILE_DEFINITIONS_PRIVATE } )
target_compile_definitions ( ${ target_name_ } PUBLIC ${ GTSAM_COMPILE_DEFINITIONS_PUBLIC } )
if ( NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "" )
target_compile_options ( ${ target_name_ } PUBLIC ${ GTSAM_COMPILE_OPTIONS_PUBLIC } )
endif ( )
target_compile_options ( ${ target_name_ } PRIVATE ${ GTSAM_COMPILE_OPTIONS_PRIVATE } )
endfunction ( gtsam_apply_build_flags )
