397 lines
18 KiB
CMake
397 lines
18 KiB
CMake
# Set up cache options
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option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox")
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
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endif()
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# GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static
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# are already compiled into the library by the linker
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if(GTSAM_MEX_BUILD_STATIC_MODULE AND WIN32)
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message(FATAL_ERROR "GTSAM_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).")
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endif()
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# Try to automatically configure mex path
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if(APPLE)
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file(GLOB matlab_bin_directories "/Applications/MATLAB*/bin")
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set(mex_program_name "mex")
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elseif(WIN32)
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file(GLOB matlab_bin_directories "C:/Program Files*/MATLAB/*/bin")
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set(mex_program_name "mex.bat")
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else()
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file(GLOB matlab_bin_directories "/usr/local/MATLAB/*/bin")
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set(mex_program_name "mex")
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endif()
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# Run find_program explicitly putting $PATH after our predefined program
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# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents
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# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
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# on the system path.
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list(REVERSE matlab_bin_directories) # Reverse list so the highest version (sorted alphabetically) is preferred
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find_program(MEX_COMMAND ${mex_program_name}
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PATHS ${matlab_bin_directories} ENV PATH
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NO_DEFAULT_PATH)
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mark_as_advanced(FORCE MEX_COMMAND)
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# Now that we have mex, trace back to find the Matlab installation root
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get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH)
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get_filename_component(mex_path "${MEX_COMMAND}" PATH)
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get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
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set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)")
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# User-friendly wrapping function. Builds a mex module from the provided
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# interfaceHeader. For example, for the interface header gtsam.h,
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# this will build the wrap module 'gtsam'.
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#
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# Arguments:
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#
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# interfaceHeader: The relative path to the wrapper interface definition file.
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# linkLibraries: Any *additional* libraries to link. Your project library
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# (e.g. `lba`), libraries it depends on, and any necessary
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# MATLAB libraries will be linked automatically. So normally,
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# leave this empty.
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# extraIncludeDirs: Any *additional* include paths required by dependent
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# libraries that have not already been added by
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# include_directories. Again, normally, leave this empty.
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# extraMexFlags: Any *additional* flags to pass to the compiler when building
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# the wrap code. Normally, leave this empty.
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function(wrap_and_install_library interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
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wrap_library_internal("${interfaceHeader}" "${linkLibraries}" "${extraIncludeDirs}" "${mexFlags}")
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install_wrapped_library_internal("${interfaceHeader}")
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endfunction()
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# Internal function that wraps a library and compiles the wrapper
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function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
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if(UNIX AND NOT APPLE)
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if(CMAKE_SIZEOF_VOID_P EQUAL 8)
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set(mexModuleExt mexa64)
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else()
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set(mexModuleExt mexglx)
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endif()
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elseif(APPLE)
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set(mexModuleExt mexmaci64)
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elseif(MSVC)
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if(CMAKE_CL_64)
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set(mexModuleExt mexw64)
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else()
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set(mexModuleExt mexw32)
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endif()
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endif()
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# Wrap codegen interface
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#usage: wrap interfacePath moduleName toolboxPath headerPath
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# headerPath : path to matlab.h
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# Extract module name from interface header file name
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get_filename_component(interfaceHeader "${interfaceHeader}" ABSOLUTE)
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get_filename_component(modulePath "${interfaceHeader}" PATH)
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get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
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# Paths for generated files
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set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
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set(generated_cpp_file "${generated_files_path}/${moduleName}_wrapper.cpp")
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set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex")
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message(STATUS "Building wrap module ${moduleName}")
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# Find matlab.h in GTSAM
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if("${PROJECT_NAME}" STREQUAL "GTSAM")
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set(matlab_h_path "${PROJECT_SOURCE_DIR}")
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else()
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if(NOT GTSAM_INCLUDE_DIR)
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message(FATAL_ERROR "You must call find_package(GTSAM) before using wrap")
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endif()
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list(GET GTSAM_INCLUDE_DIR 0 installed_includes_path)
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set(matlab_h_path "${installed_includes_path}/wrap")
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endif()
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# If building a static mex module, add all cmake-linked libraries to the
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# explicit link libraries list so that the next block of code can unpack
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# any static libraries
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set(automaticDependencies "")
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foreach(lib ${moduleName} ${linkLibraries})
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#message("MODULE NAME: ${moduleName}")
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if(TARGET "${lib}")
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get_target_property(dependentLibraries ${lib} INTERFACE_LINK_LIBRARIES)
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# message("DEPENDENT LIBRARIES: ${dependentLibraries}")
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if(dependentLibraries)
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list(APPEND automaticDependencies ${dependentLibraries})
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endif()
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endif()
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endforeach()
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## CHRIS: Temporary fix. On my system the get_target_property above returned Not-found for gtsam module
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## This needs to be fixed!!
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if(UNIX AND NOT APPLE)
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list(APPEND automaticDependencies ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE}
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${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}
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${Boost_REGEX_LIBRARY_RELEASE})
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if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
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list(APPEND automaticDependencies ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE})
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if(GTSAM_MEX_BUILD_STATIC_MODULE)
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#list(APPEND automaticDependencies -Wl,--no-as-needed -lrt)
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endif()
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endif()
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endif()
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#message("AUTOMATIC DEPENDENCIES: ${automaticDependencies}")
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## CHRIS: End temporary fix
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# Separate dependencies
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set(correctedOtherLibraries "")
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set(otherLibraryTargets "")
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set(otherLibraryNontargets "")
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set(otherSourcesAndObjects "")
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foreach(lib ${moduleName} ${linkLibraries} ${automaticDependencies})
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if(TARGET "${lib}")
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if(GTSAM_MEX_BUILD_STATIC_MODULE)
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get_target_property(target_sources ${lib} SOURCES)
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list(APPEND otherSourcesAndObjects ${target_sources})
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else()
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list(APPEND correctedOtherLibraries ${lib})
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list(APPEND otherLibraryTargets ${lib})
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endif()
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else()
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get_filename_component(file_extension "${lib}" EXT)
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get_filename_component(lib_name "${lib}" NAME_WE)
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if(file_extension STREQUAL ".a" AND GTSAM_MEX_BUILD_STATIC_MODULE)
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# For building a static MEX module, unpack the static library
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# and compile its object files into our module
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file(MAKE_DIRECTORY "${generated_files_path}/${lib_name}_objects")
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execute_process(COMMAND ar -x "${lib}"
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WORKING_DIRECTORY "${generated_files_path}/${lib_name}_objects"
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RESULT_VARIABLE ar_result)
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if(NOT ar_result EQUAL 0)
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message(FATAL_ERROR "Failed extracting ${lib}")
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endif()
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# Get list of object files
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execute_process(COMMAND ar -t "${lib}"
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OUTPUT_VARIABLE object_files
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RESULT_VARIABLE ar_result)
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if(NOT ar_result EQUAL 0)
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message(FATAL_ERROR "Failed listing ${lib}")
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endif()
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# Add directory to object files
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string(REPLACE "\n" ";" object_files_list "${object_files}")
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foreach(object_file ${object_files_list})
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get_filename_component(file_extension "${object_file}" EXT)
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if(file_extension STREQUAL ".o")
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list(APPEND otherSourcesAndObjects "${generated_files_path}/${lib_name}_objects/${object_file}")
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endif()
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endforeach()
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else()
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list(APPEND correctedOtherLibraries ${lib})
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list(APPEND otherLibraryNontargets ${lib})
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endif()
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endif()
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endforeach()
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# Check libraries for conflicting versions built-in to MATLAB
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set(dependentLibraries "")
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if(NOT "${otherLibraryTargets}" STREQUAL "")
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foreach(target ${otherLibraryTargets})
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get_target_property(dependentLibrariesOne ${target} INTERFACE_LINK_LIBRARIES)
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list(APPEND dependentLibraries ${dependentLibrariesOne})
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endforeach()
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endif()
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list(APPEND dependentLibraries ${otherLibraryNontargets})
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check_conflicting_libraries_internal("${dependentLibraries}")
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# Set up generation of module source file
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file(MAKE_DIRECTORY "${generated_files_path}")
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add_custom_command(
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OUTPUT ${generated_cpp_file}
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DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
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COMMAND
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wrap
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${modulePath}
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${moduleName}
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${generated_files_path}
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${matlab_h_path}
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VERBATIM
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WORKING_DIRECTORY ${generated_files_path})
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# Set up building of mex module
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string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}")
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string(REPLACE ";" " " mexFlagsSpaced "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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add_library(${moduleName}_wrapper MODULE ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects})
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target_link_libraries(${moduleName}_wrapper ${correctedOtherLibraries})
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set_target_properties(${moduleName}_wrapper PROPERTIES
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OUTPUT_NAME "${moduleName}_wrapper"
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PREFIX ""
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SUFFIX ".${mexModuleExt}"
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LIBRARY_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
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ARCHIVE_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
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RUNTIME_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
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CLEAN_DIRECT_OUTPUT 1)
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set_property(TARGET ${moduleName}_wrapper APPEND_STRING PROPERTY COMPILE_FLAGS " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32")
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set_property(TARGET ${moduleName}_wrapper APPEND PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs})
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# Disable build type postfixes for the mex module - we install in different directories for each build type instead
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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set_target_properties(${moduleName}_wrapper PROPERTIES ${build_type_upper}_POSTFIX "")
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endforeach()
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# Set up platform-specific flags
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if(MSVC)
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if(CMAKE_CL_64)
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set(mxLibPath "${MATLAB_ROOT}/extern/lib/win64/microsoft")
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else()
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set(mxLibPath "${MATLAB_ROOT}/extern/lib/win32/microsoft")
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endif()
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target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.lib" "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib")
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set_target_properties(${moduleName}_wrapper PROPERTIES LINK_FLAGS "/export:mexFunction")
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set_property(SOURCE "${generated_cpp_file}" APPEND PROPERTY COMPILE_FLAGS "/bigobj")
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elseif(APPLE)
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set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
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target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.dylib" "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
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endif()
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# Hacking around output issue with custom command
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# Deletes generated build folder
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add_custom_target(wrap_${moduleName}_distclean
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COMMAND cmake -E remove_directory ${generated_files_path}
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COMMAND cmake -E remove_directory ${compiled_mex_modules_root})
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endfunction()
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# Internal function that installs a wrap toolbox
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function(install_wrapped_library_internal interfaceHeader)
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get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
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set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
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# NOTE: only installs .m and mex binary files (not .cpp) - the trailing slash on the directory name
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# here prevents creating the top-level module name directory in the destination.
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one
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get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
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install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING PATTERN "*.m")
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install(TARGETS ${moduleName}_wrapper
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LIBRARY DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
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RUNTIME DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}")
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endforeach()
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else()
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install(DIRECTORY "${generated_files_path}/" DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m")
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install(TARGETS ${moduleName}_wrapper
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LIBRARY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}
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RUNTIME DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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endif()
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endfunction()
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# Internal function to check for libraries installed with MATLAB that may conflict
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# and prints a warning to move them if problems occur.
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function(check_conflicting_libraries_internal libraries)
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if(UNIX)
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# Set path for matlab's built-in libraries
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if(APPLE)
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set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
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else()
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if(CMAKE_CL_64)
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set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64")
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else()
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set(mxLibPath "${MATLAB_ROOT}/bin/glnx86")
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endif()
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endif()
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# List matlab's built-in libraries
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file(GLOB matlabLibs RELATIVE "${mxLibPath}" "${mxLibPath}/lib*")
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# Convert to base names
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set(matlabLibNames "")
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foreach(lib ${matlabLibs})
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND matlabLibNames "${libName}")
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endforeach()
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# Get names of link libraries
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set(linkLibNames "")
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foreach(lib ${libraries})
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string(FIND "${lib}" "/" slashPos)
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if(NOT slashPos EQUAL -1)
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# If the name is a path, just get the library name
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND linkLibNames "${libName}")
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else()
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# It's not a path, so see if it looks like a filename
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get_filename_component(ext "${lib}" EXT)
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if(NOT "${ext}" STREQUAL "")
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# It's a filename, so get the base name
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get_filename_component(libName "${lib}" NAME_WE)
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list(APPEND linkLibNames "${libName}")
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else()
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# It's not a filename so it must be a short name, add the "lib" prefix
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list(APPEND linkLibNames "lib${lib}")
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endif()
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endif()
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endforeach()
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# Remove duplicates
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list(REMOVE_DUPLICATES linkLibNames)
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set(conflictingLibs "")
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foreach(lib ${linkLibNames})
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list(FIND matlabLibNames "${lib}" libPos)
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if(NOT libPos EQUAL -1)
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if(NOT conflictingLibs STREQUAL "")
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set(conflictingLibs "${conflictingLibs}, ")
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endif()
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set(conflictingLibs "${conflictingLibs}${lib}")
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endif()
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endforeach()
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if(NOT "${conflictingLibs}" STREQUAL "")
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message(WARNING "GTSAM links to the libraries [ ${conflictingLibs} ] on your system, but "
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"MATLAB is distributed with its own versions of these libraries which may conflict. "
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"If you get strange errors or crashes with the GTSAM MATLAB wrapper, move these "
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"libraries out of MATLAB's built-in library directory, which is ${mxLibPath} on "
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"your system. MATLAB will usually still work with these libraries moved away, but "
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"if not, you'll have to compile the static GTSAM MATLAB wrapper module.")
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endif()
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endif()
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endfunction()
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# Helper function to install MATLAB scripts and handle multiple build types where the scripts
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# should be installed to all build type toolboxes
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function(install_matlab_scripts source_directory patterns)
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set(patterns_args "")
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set(exclude_patterns "")
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if(NOT GTSAM_WRAP_SERIALIZATION)
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set(exclude_patterns "testSerialization.m")
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endif()
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foreach(pattern ${patterns})
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list(APPEND patterns_args PATTERN "${pattern}")
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endforeach()
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if there is one
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get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
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install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
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endforeach()
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else()
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install(DIRECTORY "${source_directory}" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
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endif()
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endfunction()
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