12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
gtsam/inference/Makefile.am

96 lines
3.5 KiB
Makefile
Raw Normal View History

Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
Last part of re-organization for now: all things linear/Gaussian are now in the "linear" sub-directory.
2010-07-13 06:18:38 +08:00
# GTSAM core functionality: base classes for inference, as well as symbolic and discrete
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
Fixing directory structure
2009-08-22 06:23:24 +08:00
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-20 01:23:19 +08:00
# use nostdinc to turn off -I. and -I.., we do not need them because
# header files are qualified so they can be included in external projects.
AUTOMAKE_OPTIONS = nostdinc
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
headers =
sources =
check_PROGRAMS =
Fixing directory structure
2009-08-22 06:23:24 +08:00
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
# base
#----------------------------------------------------------------------------------------------------
Fixing directory structure
2009-08-22 06:23:24 +08:00
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
# GTSAM core
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-20 05:31:13 +08:00
headers += Factor.h Factor-inl.h Conditional.h
Re-organized makefile
2009-11-12 12:54:31 +08:00
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
2009-12-11 09:38:45 +08:00
# Symbolic Inference
New linear solver interface, global inference functions removed.
2010-10-22 06:59:54 +08:00
sources += SymbolicFactorGraph.cpp SymbolicSequentialSolver.cpp
added testConditional
2010-10-12 08:15:11 +08:00
check_PROGRAMS += tests/testSymbolicFactor tests/testSymbolicFactorGraph tests/testConditional
check_PROGRAMS += tests/testSymbolicBayesNet tests/testVariableIndex tests/testVariableSlots
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
2009-12-11 09:38:45 +08:00
Re-organized makefile
2009-11-12 12:54:31 +08:00
# Inference
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
headers += inference-inl.h VariableSlots-inl.h
Fixed computing shortcuts in BayesTree
2010-10-10 11:10:03 +08:00
sources += inference.cpp VariableSlots.cpp Permutation.cpp
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-20 05:31:13 +08:00
sources += IndexFactor.cpp IndexConditional.cpp
Large gtsam refactoring To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors. The following are the biggest changes: 1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function. 2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like if (H) *H = Matrix_(3,6,....); 3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'> 4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
headers += graph.h graph-inl.h
Changed Value_t conventions to Value, fixed some install script problems
2010-10-09 11:53:27 +08:00
headers += VariableIndex.h
Re-organized makefile
2009-11-12 12:54:31 +08:00
headers += FactorGraph.h FactorGraph-inl.h
Created ClusterTree (duplicate of Junction tree for now, will split later). GaussianJunctionTree is no longer a template. TestJunctionTree now tests with SymbolicFactorGraph
2010-07-14 06:03:18 +08:00
headers += ClusterTree.h ClusterTree-inl.h
added profiling flags added draft for junction tree
2010-07-08 05:41:50 +08:00
headers += JunctionTree.h JunctionTree-inl.h
Made EliminationTree generic, with Symbolic and Gaussian unit tests
2010-10-15 23:53:36 +08:00
headers += EliminationTree.h EliminationTree-inl.h
GaussianBayesTree added, testBayesTree split
2009-12-10 03:39:25 +08:00
headers += BayesNet.h BayesNet-inl.h
template nightmare resolved, all tests working
2009-12-28 07:15:36 +08:00
headers += BayesTree.h BayesTree-inl.h
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-13 00:36:58 +08:00
headers += ISAM.h ISAM-inl.h
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
check_PROGRAMS += tests/testFactorGraph
check_PROGRAMS += tests/testFactorGraph
check_PROGRAMS += tests/testBayesTree
check_PROGRAMS += tests/testISAM
Made EliminationTree generic, with Symbolic and Gaussian unit tests
2010-10-15 23:53:36 +08:00
check_PROGRAMS += tests/testEliminationTree
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
check_PROGRAMS += tests/testClusterTree
check_PROGRAMS += tests/testJunctionTree
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
# discrete
#----------------------------------------------------------------------------------------------------
Re-organized makefile
2009-11-12 12:54:31 +08:00
Binary Bayes Net, incomplete
2009-12-07 05:46:46 +08:00
# Binary Inference
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
#headers += BinaryConditional.h
#check_PROGRAMS += tests/testBinaryBayesNet
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
# Timing tests
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
#noinst_PROGRAMS = tests/timeSymbolMaps
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
# Create a libtool library that is not installed
# It will be packaged in the toplevel libgtsam.la as specfied in ../Makefile.am
# The headers are installed in $(includedir)/gtsam:
#----------------------------------------------------------------------------------------------------
BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold.
2009-09-09 12:43:04 +08:00
headers += $(sources:.cpp=.h)
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-20 01:23:19 +08:00
inferencedir = $(pkgincludedir)/inference
inference_HEADERS = $(headers)
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-13 00:36:58 +08:00
noinst_LTLIBRARIES = libinference.la
libinference_la_SOURCES = $(sources)
small change to make boost work properly
2010-10-19 05:44:38 +08:00
AM_CPPFLAGS = $(BOOST_CPPFLAGS) -I$(CCOLAMDInc) -I$(top_srcdir)/..
AM_LDFLAGS = $(BOOST_LDFLAGS)
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-13 00:36:58 +08:00
AM_CXXFLAGS =
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#----------------------------------------------------------------------------------------------------
# rules to build local programs
#----------------------------------------------------------------------------------------------------
TESTS = $(check_PROGRAMS)
small change to make boost work properly
2010-10-19 05:44:38 +08:00
AM_LDFLAGS += $(boost_serialization)
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
LDADD = libinference.la ../base/libbase.la
move colamd and spqr_mini out of gtsam
2010-10-14 10:41:08 +08:00
LDADD += ../CppUnitLite/libCppUnitLite.a
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
AM_DEFAULT_SOURCE_EXT = .cpp
Fixing directory structure
2009-08-22 06:23:24 +08:00
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
if USE_ACCELERATE_MACOS
AM_LDFLAGS += -Wl,/System/Library/Frameworks/Accelerate.framework/Accelerate
endif
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
# rule to run an executable
%.run: % $(LDADD)
./$^
Removed LDL, ConstraintOptimizer things, and FusionTupleConfig. Added *.valgrind run commands so that tests can be checked for memory errors. Removed some extraneous stuff in configure.ac
2010-10-03 07:38:01 +08:00
# rule to run executable with valgrind
%.valgrind: % $(LDADD)
valgrind ./$^
compiling under linux with lapack; removed unnecessary install from Makefile in spqr with Kai
2010-07-08 06:26:46 +08:00
if USE_LAPACK
add separate flags for lapack
2010-07-01 01:23:58 +08:00
AM_CXXFLAGS += -DGT_USE_LAPACK
endif