323 lines
13 KiB
Makefile
323 lines
13 KiB
Makefile
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# the install destination
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includedir = ${prefix}/include/gtsam
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libdir = ${exec_prefix}/lib
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# library version
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current = 0 # The most recent interface number that this library implements.
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revision = 0 # The implementation number of the current interface
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age = 0 # The difference between the newest and oldest interfaces that \
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this library implements. In other words, the library implements all \
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the interface numbers in the range from number current - age to \
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current.
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# from libtool manual:
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# Here are a set of rules to help you update your library version information:
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# Start with version information of ‘0:0:0’ for each libtool library.
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# - Update the version information only immediately before a public
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# release of your software.
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# - If the library source code has changed at all since the last
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# update, then increment revision
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# - If any interfaces have been added, removed, or changed since the
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# last update, increment current, and set revision to 0.
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# - If any interfaces have been added since the last public release,
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# then increment age.
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# - If any interfaces have been removed since the last public release,
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# then set age to 0.
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version = $(current):$(revision):$(age)
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# we specify the library in levels
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# basic Math
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sources = Vector.cpp svdcmp.cpp Matrix.cpp
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check_PROGRAMS = testVector testMatrix
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testVector_SOURCES = testVector.cpp
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testVector_LDADD = libgtsam.la
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testMatrix_SOURCES = testMatrix.cpp
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testMatrix_LDADD = libgtsam.la
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# GTSAM basics
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# The header files will be installed in ~/include/gtsam
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headers = gtsam.h Value.h Testable.h Factor.h Conditional.h
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headers += Ordering.h IndexTable.h numericalDerivative.h
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headers += BTree.h
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sources += Ordering.cpp smallExample.cpp
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check_PROGRAMS += testOrdering testBTree
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testOrdering_SOURCES = testOrdering.cpp
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testOrdering_LDADD = libgtsam.la
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testBTree_SOURCES = testBTree.cpp
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testBTree_LDADD = libgtsam.la
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# Symbolic Inference
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headers += SymbolicConditional.h
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sources += SymbolicFactor.cpp SymbolicFactorGraph.cpp SymbolicBayesNet.cpp
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check_PROGRAMS += testSymbolicFactor testSymbolicFactorGraph testSymbolicBayesNet
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testSymbolicFactor_SOURCES = testSymbolicFactor.cpp
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testSymbolicFactor_LDADD = libgtsam.la
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testSymbolicFactorGraph_SOURCES = testSymbolicFactorGraph.cpp
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testSymbolicFactorGraph_LDADD = libgtsam.la
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testSymbolicBayesNet_SOURCES = testSymbolicBayesNet.cpp
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testSymbolicBayesNet_LDADD = libgtsam.la
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# Inference
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headers += inference.h inference-inl.h
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headers += graph.h graph-inl.h
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headers += FactorGraph.h FactorGraph-inl.h
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headers += BayesNet.h BayesNet-inl.h
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headers += BayesTree.h BayesTree-inl.h
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headers += ISAM.h ISAM-inl.h GaussianISAM.h
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headers += ISAM2.h ISAM2-inl.h GaussianISAM2.h
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sources += GaussianISAM.cpp GaussianISAM2.cpp
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check_PROGRAMS += testGraph testFactorgraph testInference testOrdering
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check_PROGRAMS += testBayesTree testISAM testGaussianISAM testGaussianISAM2
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testGraph_SOURCES = testGraph.cpp
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testGraph_LDADD = libgtsam.la
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testFactorgraph_SOURCES = testFactorgraph.cpp
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testInference_SOURCES = testInference.cpp
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testFactorgraph_LDADD = libgtsam.la
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testInference_LDADD = libgtsam.la
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testBayesTree_SOURCES = testBayesTree.cpp
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testBayesTree_LDADD = libgtsam.la
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testGaussianISAM_SOURCES = testGaussianISAM.cpp
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testGaussianISAM_LDADD = libgtsam.la
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testGaussianISAM2_SOURCES = testGaussianISAM2.cpp
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testGaussianISAM2_LDADD = libgtsam.la
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testISAM_SOURCES = testISAM.cpp
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testISAM_LDADD = libgtsam.la
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# Binary Inference
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headers += BinaryConditional.h
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check_PROGRAMS += testBinaryBayesNet
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testBinaryBayesNet_SOURCES = testBinaryBayesNet.cpp
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testBinaryBayesNet_LDADD = libgtsam.la
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# Gaussian inference
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headers += GaussianFactorSet.h SharedGaussian.h SharedDiagonal.h VectorConfig.h Factorization.h
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sources += NoiseModel.cpp Errors.cpp VectorMap.cpp VectorBTree.cpp GaussianFactor.cpp
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sources += GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
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check_PROGRAMS += testVectorMap testVectorBTree testGaussianFactor testGaussianFactorGraph
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check_PROGRAMS += testGaussianConditional testGaussianBayesNet testNoiseModel testErrors
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testVectorMap_SOURCES = testVectorMap.cpp
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testVectorMap_LDADD = libgtsam.la
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testVectorBTree_SOURCES = testVectorBTree.cpp
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testVectorBTree_LDADD = libgtsam.la
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testGaussianFactor_SOURCES = testGaussianFactor.cpp
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testGaussianFactor_LDADD = libgtsam.la
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testGaussianFactorGraph_SOURCES = testGaussianFactorGraph.cpp
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testGaussianFactorGraph_LDADD = libgtsam.la
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testGaussianConditional_SOURCES = testGaussianConditional.cpp
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testGaussianConditional_LDADD = libgtsam.la
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testGaussianBayesNet_SOURCES = testGaussianBayesNet.cpp
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testGaussianBayesNet_LDADD = libgtsam.la
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testNoiseModel_SOURCES = testNoiseModel.cpp
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testNoiseModel_LDADD = libgtsam.la
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testErrors_SOURCES = testErrors.cpp
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testErrors_LDADD = libgtsam.la
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# Iterative Methods
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headers += iterative-inl.h SubgraphSolver.h SubgraphSolver-inl.h
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sources += iterative.cpp BayesNetPreconditioner.cpp SubgraphPreconditioner.cpp
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check_PROGRAMS += testIterative testBayesNetPreconditioner testSubgraphPreconditioner
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testIterative_SOURCES = testIterative.cpp
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testIterative_LDADD = libgtsam.la
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testBayesNetPreconditioner_SOURCES = testBayesNetPreconditioner.cpp
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testBayesNetPreconditioner_LDADD = libgtsam.la
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testSubgraphPreconditioner_SOURCES = testSubgraphPreconditioner.cpp
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testSubgraphPreconditioner_LDADD = libgtsam.la
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# Nonlinear inference
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headers += Key.h SymbolMap.h NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
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headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h
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headers += NonlinearFactor.h
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check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer testKey
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testNonlinearFactor_SOURCES = testNonlinearFactor.cpp
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testNonlinearFactor_LDADD = libgtsam.la
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testNonlinearFactorGraph_SOURCES = testNonlinearFactorGraph.cpp
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testNonlinearFactorGraph_LDADD = libgtsam.la
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testNonlinearOptimizer_SOURCES = testNonlinearOptimizer.cpp
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testNonlinearOptimizer_LDADD = libgtsam.la
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testKey_SOURCES = testKey.cpp
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testKey_LDADD = libgtsam.la
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# Nonlinear constraints
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headers += NonlinearConstraint.h NonlinearConstraint-inl.h
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headers += NonlinearEquality.h
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check_PROGRAMS += testNonlinearConstraint testNonlinearEquality
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testNonlinearConstraint_SOURCES = testNonlinearConstraint.cpp
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testNonlinearConstraint_LDADD = libgtsam.la
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testNonlinearEquality_SOURCES = testNonlinearEquality.cpp
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testNonlinearEquality_LDADD = libgtsam.la
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# SQP
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check_PROGRAMS += testSQP
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testSQP_SOURCES = $(example) testSQP.cpp
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testSQP_LDADD = libgtsam.la
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# geometry
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headers += Lie.h Lie-inl.h
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sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
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check_PROGRAMS += testPoint2 testRot2 testPose2 testPoint3 testRot3 testPose3 testCal3_S2 testLieConfig testTupleConfig
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testPoint2_SOURCES = testPoint2.cpp
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testRot2_SOURCES = testRot2.cpp
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testPose2_SOURCES = testPose2.cpp
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testPoint3_SOURCES = testPoint3.cpp
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testRot3_SOURCES = testRot3.cpp
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testPose3_SOURCES = testPose3.cpp
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testCal3_S2_SOURCES = testCal3_S2.cpp
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testLieConfig_SOURCES = testLieConfig.cpp
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testTupleConfig_SOURCES = testTupleConfig.cpp
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testPoint2_LDADD = libgtsam.la
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testRot2_LDADD = libgtsam.la
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testPose2_LDADD = libgtsam.la
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testPoint3_LDADD = libgtsam.la
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testRot3_LDADD = libgtsam.la
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testPose3_LDADD = libgtsam.la
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testCal3_S2_LDADD = libgtsam.la
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testLieConfig_LDADD = libgtsam.la
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testTupleConfig_LDADD = libgtsam.la
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# simulated2D example
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headers += Simulated2DConfig.h
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headers += Simulated2DPosePrior.h Simulated2DPointPrior.h
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headers += Simulated2DOdometry.h Simulated2DMeasurement.h
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sources += simulated2D.cpp
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testSimulated2D_SOURCES = testSimulated2D.cpp
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testSimulated2D_LDADD = libgtsam.la
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check_PROGRAMS += testSimulated2D
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# simulated3D example
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sources += Simulated3D.cpp
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testSimulated3D_SOURCES = testSimulated3D.cpp
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testSimulated3D_LDADD = libgtsam.la
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check_PROGRAMS += testSimulated3D
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# Pose SLAM headers
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headers += BetweenFactor.h PriorFactor.h
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headers += LieConfig.h LieConfig-inl.h TupleConfig.h TupleConfig-inl.h
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# 2D Pose SLAM
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headers +=
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sources += pose2SLAM.cpp Pose2SLAMOptimizer.cpp dataset.cpp
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check_PROGRAMS += testPose2Factor testPose2Config testPose2SLAM testPose2Prior
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testPose2Prior_SOURCES = testPose2Prior.cpp
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testPose2Prior_LDADD = libgtsam.la
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testPose2Factor_SOURCES = testPose2Factor.cpp
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testPose2Factor_LDADD = libgtsam.la
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testPose2Config_SOURCES = testPose2Config.cpp
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testPose2Config_LDADD = libgtsam.la
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testPose2SLAM_SOURCES = testPose2SLAM.cpp
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testPose2SLAM_LDADD = libgtsam.la
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# 2D SLAM using Bearing and Range
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headers +=
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sources += planarSLAM.cpp
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check_PROGRAMS += testPlanarSLAM
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testPlanarSLAM_SOURCES = testPlanarSLAM.cpp
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testPlanarSLAM_LDADD = libgtsam.la
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# 3D Pose constraints
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headers +=
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sources += pose3SLAM.cpp
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check_PROGRAMS += testPose3Factor testPose3Config testPose3SLAM
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testPose3Factor_SOURCES = testPose3Factor.cpp
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testPose3Factor_LDADD = libgtsam.la
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testPose3Config_SOURCES = testPose3Config.cpp
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testPose3Config_LDADD = libgtsam.la
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testPose3SLAM_SOURCES = testPose3SLAM.cpp
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testPose3SLAM_LDADD = libgtsam.la
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# Cameras
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sources += CalibratedCamera.cpp SimpleCamera.cpp
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check_PROGRAMS += testCalibratedCamera testSimpleCamera
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testCalibratedCamera_SOURCES = testCalibratedCamera.cpp
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testCalibratedCamera_LDADD = libgtsam.la
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testSimpleCamera_SOURCES = testSimpleCamera.cpp
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testSimpleCamera_LDADD = libgtsam.la
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# Tensors
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headers += tensors.h Tensor1.h Tensor2.h Tensor3.h Tensor4.h Tensor5.h
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headers += Tensor1Expression.h Tensor2Expression.h Tensor3Expression.h Tensor5Expression.h
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headers += projectiveGeometry.h tensorInterface.h
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sources += projectiveGeometry.cpp tensorInterface.cpp
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check_PROGRAMS += testTensors testHomography2 testTrifocal
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testHomography2_SOURCES = testHomography2.cpp
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testHomography2_LDADD = libgtsam.la
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testTensors_SOURCES = testTensors.cpp
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testTensors_LDADD = libgtsam.la
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testTrifocal_SOURCES = testTrifocal.cpp
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testTrifocal_LDADD = libgtsam.la
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# Visual SLAM
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sources += visualSLAM.cpp
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check_PROGRAMS += testVSLAMFactor testVSLAMGraph testVSLAMConfig
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testVSLAMFactor_SOURCES = testVSLAMFactor.cpp
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testVSLAMFactor_LDADD = libgtsam.la
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testVSLAMGraph_SOURCES = testVSLAMGraph.cpp
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testVSLAMGraph_LDADD = libgtsam.la
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testVSLAMConfig_SOURCES = testVSLAMConfig.cpp
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testVSLAMConfig_LDADD = libgtsam.la
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headers += $(sources:.cpp=.h)
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# Timing tests
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noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph timeRot3 timeMatrix timeSymbolMaps timeVectorConfig
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timeRot3_SOURCES = timeRot3.cpp
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timeRot3_LDADD = libgtsam.la
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timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
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timeGaussianFactor_LDADD = libgtsam.la
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timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
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timeGaussianFactorGraph_LDADD = libgtsam.la
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timeMatrix_SOURCES = timeMatrix.cpp
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timeMatrix_LDADD = libgtsam.la
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timeSymbolMaps_SOURCES = timeSymbolMaps.cpp
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timeSymbolMaps_LDADD = libgtsam.la
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timeVectorConfig_SOURCES = timeVectorConfig.cpp
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timeVectorConfig_LDADD = libgtsam.la
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# create both dynamic and static libraries
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AM_CXXFLAGS = -I$(boost) -fPIC
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lib_LTLIBRARIES = libgtsam.la
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libgtsam_la_SOURCES = $(sources)
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libgtsam_la_CPPFLAGS = $(AM_CXXFLAGS)
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libgtsam_la_LDFLAGS = -version-info $(version) -L../colamd -lcolamd #-lboost_serialization-mt
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# enable debug if --enable-debug is set in configure
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if DEBUG
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AM_CXXFLAGS += -g
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endif
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# install the header files
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include_HEADERS = $(headers)
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AM_CXXFLAGS += -I..
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AM_LDFLAGS = -L../CppUnitLite -lCppUnitLite $(BOOST_LDFLAGS) $(boost_serialization) #-L. -lgtsam
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# adding cblas implementation - split into a default linux version using the
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# autotools script, and a mac version that is hardcoded
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# NOTE: the GT_USE_CBLAS is just used as a means of detecting when blas is available
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if USE_BLAS_LINUX
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AM_CXXFLAGS += -DGT_USE_CBLAS
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libgtsam_la_CPPFLAGS += -DGT_USE_CBLAS
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AM_LDFLAGS += $(BLAS_LIBS) $(LIBS) $(FLIBS)
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libgtsam_la_LDFLAGS += $(BLAS_LIBS) $(LIBS) $(FLIBS)
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endif
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if USE_BLAS_MACOS
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AM_CXXFLAGS += -DGT_USE_CBLAS -DYA_BLAS -DYA_LAPACK -DYA_BLASMULT -I/System/Library/Frameworks/vecLib.framework/Headers
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libgtsam_la_CPPFLAGS += -DGT_USE_CBLAS -DYA_BLAS -DYA_LAPACK -DYA_BLASMULT -I/System/Library/Frameworks/vecLib.framework/Headers
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AM_LDFLAGS += -lcblas -latlas
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libgtsam_la_LDFLAGS += -framework vecLib -lcblas -latlas
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endif
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TESTS = $(check_PROGRAMS)
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CXXLINK = $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=link \
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$(CXXLD) -g $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \
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-o $@ # CXXLINK is only used for unit tests
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# rule to run an executable
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%.run: % libgtsam.la
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./$^
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