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gtsam/cpp/Makefile.am

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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 functionality: discrete, linear, and non-linear
#----------------------------------------------------------------------------------------------------
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
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
headers += Factor.h Conditional.h Ordering.h IndexTable.h
sources += Ordering.cpp
check_PROGRAMS += testOrdering
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
headers += SymbolicConditional.h
sources += SymbolicFactor.cpp SymbolicFactorGraph.cpp SymbolicBayesNet.cpp
check_PROGRAMS += testSymbolicFactor testSymbolicFactorGraph testSymbolicBayesNet
Re-organized makefile
2009-11-12 12:54:31 +08:00
# Inference
headers += inference.h inference-inl.h
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
Re-organized makefile
2009-11-12 12:54:31 +08:00
headers += FactorGraph.h FactorGraph-inl.h
added profiling flags added draft for junction tree
2010-07-08 05:41:50 +08:00
headers += JunctionTree.h JunctionTree-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
headers += ISAM.h ISAM-inl.h GaussianISAM.h
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 += ISAM2.h ISAM2-inl.h
sources += GaussianISAM.cpp
check_PROGRAMS += testFactorGraph testJunctionTree testOrdering
check_PROGRAMS += testBayesTree testISAM
#----------------------------------------------------------------------------------------------------
# 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
headers += BinaryConditional.h
check_PROGRAMS += 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
#----------------------------------------------------------------------------------------------------
# linear
#----------------------------------------------------------------------------------------------------
Binary Bayes Net, incomplete
2009-12-07 05:46:46 +08:00
Re-organized makefile
2009-11-12 12:54:31 +08:00
# Gaussian inference
put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*
2010-03-05 23:09:09 +08:00
headers += GaussianFactorSet.h SharedGaussian.h SharedDiagonal.h VectorConfig.h Factorization.h
Errors:axpy and testErrors
2010-02-21 08:01:43 +08:00
sources += NoiseModel.cpp Errors.cpp VectorMap.cpp VectorBTree.cpp GaussianFactor.cpp
sources += GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
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
check_PROGRAMS += testVectorMap testVectorBTree testGaussianFactor
check_PROGRAMS += testGaussianConditional testNoiseModel testErrors
Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
2009-12-31 20:56:47 +08:00
# Iterative Methods
I changed the name of SubgraphPCG to SubgraphSolver and put it in its own compilation unit
2010-03-13 03:19:21 +08:00
headers += iterative-inl.h SubgraphSolver.h SubgraphSolver-inl.h
corrected SubgraphPreconditioner case
2010-01-03 04:24:59 +08:00
sources += iterative.cpp BayesNetPreconditioner.cpp SubgraphPreconditioner.cpp
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
check_PROGRAMS += testBayesNetPreconditioner
# Timing tests
noinst_PROGRAMS = timeGaussianFactor timeSymbolMaps timeVectorConfig
#----------------------------------------------------------------------------------------------------
# nonlinear
#----------------------------------------------------------------------------------------------------
# Lie Groups
headers += LieConfig.h LieConfig-inl.h TupleConfig.h TupleConfig-inl.h
check_PROGRAMS += testLieConfig
Fixing directory structure
2009-08-22 06:23:24 +08:00
Re-organized makefile
2009-11-12 12:54:31 +08:00
# Nonlinear inference
All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
2010-01-22 12:41:40 +08:00
headers += Key.h SymbolMap.h NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
Re-organized makefile
2009-11-12 12:54:31 +08:00
headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h
removed .cpp
2010-01-14 23:31:58 +08:00
headers += NonlinearFactor.h
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
check_PROGRAMS += testKey
unit tests for new Urban* classes
2009-12-18 09:24:28 +08:00
# Nonlinear constraints
headers += NonlinearConstraint.h NonlinearConstraint-inl.h
headers += NonlinearEquality.h
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
check_PROGRAMS += testNonlinearConstraint
SQP tests and implementation now use the new Key system
2010-01-19 13:33:44 +08:00
# SQP
Added a separate ConstraintOptimizer, and moved CQP test from testMatrix to testConstraintOptimizer
2010-04-23 10:08:34 +08:00
sources += ConstraintOptimizer.cpp
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
check_PROGRAMS += testConstraintOptimizer
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
#----------------------------------------------------------------------------------------------------
# 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)
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
pkginclude_HEADERS = $(headers)
noinst_HEADERS = gtsam.h
noinst_LTLIBRARIES = libcpp.la
libcpp_la_SOURCES = $(sources)
AM_CPPFLAGS = -I$(boost) -I../colamd -I../base
#----------------------------------------------------------------------------------------------------
# rules to build local programs
#----------------------------------------------------------------------------------------------------
TESTS = $(check_PROGRAMS)
AM_LDFLAGS = $(BOOST_LDFLAGS) $(boost_serialization)
LDADD = libcpp.la ../base/libbase.la
LDADD += ../CppUnitLite/libCppUnitLite.a ../colamd/libcolamd.la ../ldl/libldl.la
AM_DEFAULT_SOURCE_EXT = .cpp
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
# rule to run an executable
%.run: % $(LDADD)
./$^
#----------------------------------------------------------------------------------------------------
# OLD, need to figure where these go!
#----------------------------------------------------------------------------------------------------
Added planar graph to timing script
2010-01-16 12:46:35 +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
AM_CXXFLAGS =
Fixing directory structure
2009-08-22 06:23:24 +08:00
enable debug options
2009-09-03 23:15:20 +08:00
# enable debug if --enable-debug is set in configure
if DEBUG
add gsl and atlas to configure
2010-01-27 13:15:52 +08:00
AM_CXXFLAGS += -g
enable debug options
2009-09-03 23:15:20 +08:00
endif
added profiling flags added draft for junction tree
2010-07-08 05:41:50 +08:00
if USE_PROFILING
AM_CXXFLAGS += -pg
AM_LDFLAGS += -pg
compiling under linux with lapack; removed unnecessary install from Makefile in spqr with Kai
2010-07-08 06:26:46 +08:00
endif
if USE_LAPACK
add separate flags for lapack
2010-07-01 01:23:58 +08:00
AM_CXXFLAGS += -DGT_USE_LAPACK
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
LDADD += ../spqr_mini/libspqr_mini.la
add separate flags for lapack
2010-07-01 01:23:58 +08:00
endif