156 lines
11 KiB
CMake
156 lines
11 KiB
CMake
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# Add install prefix to search path
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list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")
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# Default to Release mode
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if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
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set(GTSAM_CMAKE_BUILD_TYPE "Release" CACHE STRING
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"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo.")
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set(CMAKE_BUILD_TYPE ${GTSAM_CMAKE_BUILD_TYPE} CACHE STRING
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"Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
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endif()
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# Add option for using build type postfixes to allow installing multiple build modes
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option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON)
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# Set custom compilation flags.
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# NOTE: We set all the CACHE variables with a GTSAM prefix, and then set a normal local variable below
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# so that we don't "pollute" the global variable namespace in the cmake cache.
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# Set all CMAKE_BUILD_TYPE flags:
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# (see https://cmake.org/Wiki/CMake_Useful_Variables#Compilers_and_Tools)
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if(MSVC)
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set(GTSAM_CMAKE_C_FLAGS "/W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler for all builds.")
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set(GTSAM_CMAKE_CXX_FLAGS "/W3 /GR /EHsc /MP /DWINDOWS_LEAN_AND_MEAN" CACHE STRING "Flags used by the compiler for all builds.")
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set(GTSAM_CMAKE_C_FLAGS_DEBUG "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Extra flags used by the compiler during debug builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_DEBUG "/D_DEBUG /MDd /Zi /Ob0 /Od /RTC1 /DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Extra flags used by the compiler during debug builds.")
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set(GTSAM_CMAKE_C_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /Zi /d2Zi+" CACHE STRING "Extra flags used by the compiler during relwithdebinfo builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /O2 /DNDEBUG /Zi /d2Zi+" CACHE STRING "Extra flags used by the compiler during relwithdebinfo builds.")
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set(GTSAM_CMAKE_C_FLAGS_RELEASE "/MD /O2 /DNDEBUG" CACHE STRING "Extra flags used by the compiler during release builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_RELEASE "/MD /O2 /DNDEBUG" CACHE STRING "Extra flags used by the compiler during release builds.")
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set(GTSAM_CMAKE_C_FLAGS_PROFILING "${GTSAM_CMAKE_C_FLAGS_RELEASE} /Zi" CACHE STRING "Extra flags used by the compiler during profiling builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_PROFILING "${GTSAM_CMAKE_CXX_FLAGS_RELEASE} /Zi" CACHE STRING "Extra flags used by the compiler during profiling builds.")
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set(GTSAM_CMAKE_C_FLAGS_TIMING "${GTSAM_CMAKE_C_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Extra flags used by the compiler during timing builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_TIMING "${GTSAM_CMAKE_CXX_FLAGS_RELEASE} /DENABLE_TIMING" CACHE STRING "Extra flags used by the compiler during timing builds.")
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else()
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set(GTSAM_CMAKE_C_FLAGS "-std=c11 -Wall" CACHE STRING "Flags used by the compiler for all builds.")
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set(GTSAM_CMAKE_CXX_FLAGS "-std=c++11 -Wall" CACHE STRING "Flags used by the compiler for all builds.")
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set(GTSAM_CMAKE_C_FLAGS_DEBUG "-g -fno-inline -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Extra flags used by the compiler during debug builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_DEBUG "-g -fno-inline -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Extra flags used by the compiler during debug builds.")
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set(GTSAM_CMAKE_C_FLAGS_RELWITHDEBINFO "-g -O3 -DNDEBUG" CACHE STRING "Extra flags used by the compiler during relwithdebinfo builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -DNDEBUG" CACHE STRING "Extra flags used by the compiler during relwithdebinfo builds.")
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set(GTSAM_CMAKE_C_FLAGS_RELEASE " -O3 -DNDEBUG" CACHE STRING "Extra flags used by the compiler during release builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_RELEASE " -O3 -DNDEBUG" CACHE STRING "Extra flags used by the compiler during release builds.")
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set(GTSAM_CMAKE_C_FLAGS_PROFILING "${GTSAM_CMAKE_C_FLAGS_RELEASE}" CACHE STRING "Extra flags used by the compiler during profiling builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_PROFILING "${GTSAM_CMAKE_CXX_FLAGS_RELEASE}" CACHE STRING "Extra flags used by the compiler during profiling builds.")
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set(GTSAM_CMAKE_C_FLAGS_TIMING "${GTSAM_CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Extra flags used by the compiler during timing builds.")
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set(GTSAM_CMAKE_CXX_FLAGS_TIMING "${GTSAM_CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Extra flags used by the compiler during timing builds.")
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endif()
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set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
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set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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set(GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
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mark_as_advanced(GTSAM_CMAKE_C_FLAGS_TIMING GTSAM_CMAKE_CXX_FLAGS_TIMING GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING
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GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING
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GTSAM_CMAKE_C_FLAGS_PROFILING GTSAM_CMAKE_CXX_FLAGS_PROFILING GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING
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GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING)
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# Apply the gtsam specific build flags as normal variables. This makes it so that they only
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# apply to the gtsam part of the build if gtsam is built as a subproject
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${GTSAM_CMAKE_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GTSAM_CMAKE_CXX_FLAGS}")
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set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} ${GTSAM_CMAKE_C_FLAGS_DEBUG}")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${GTSAM_CMAKE_CXX_FLAGS_DEBUG}")
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set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO} ${GTSAM_CMAKE_C_FLAGS_RELWITHDEBINFO}")
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set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} ${GTSAM_CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
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set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} ${GTSAM_CMAKE_C_FLAGS_RELEASE}")
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${GTSAM_CMAKE_CXX_FLAGS_RELEASE}")
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set(CMAKE_C_FLAGS_PROFILING "${CMAKE_C_FLAGS_PROFILING} ${GTSAM_CMAKE_C_FLAGS_PROFILING}")
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set(CMAKE_CXX_FLAGS_PROFILING "${CMAKE_CXX_FLAGS_PROFILING} ${GTSAM_CMAKE_CXX_FLAGS_PROFILING}")
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set(CMAKE_C_FLAGS_TIMING "${CMAKE_C_FLAGS_TIMING} ${GTSAM_CMAKE_C_FLAGS_TIMING}")
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set(CMAKE_CXX_FLAGS_TIMING "${CMAKE_CXX_FLAGS_TIMING} ${GTSAM_CMAKE_CXX_FLAGS_TIMING}")
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set(CMAKE_SHARED_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING})
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set(CMAKE_MODULE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING})
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set(CMAKE_EXE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING})
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set(CMAKE_SHARED_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING})
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set(CMAKE_MODULE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING})
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set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING})
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# Clang uses a template depth that is less than standard and is too small
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if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
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# Apple Clang before 5.0 does not support -ftemplate-depth.
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if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-depth=1024")
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endif()
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endif()
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# Set up build type library postfixes
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type Debug Timing Profiling RelWithDebInfo MinSizeRel)
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string(TOUPPER "${build_type}" build_type_toupper)
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set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
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endforeach()
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endif()
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# Make common binary output directory when on Windows
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if(WIN32)
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set(RUNTIME_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin")
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set(EXECUTABLE_OUTPUT_PATH "${CMAKE_BINARY_DIR}/bin")
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set(LIBRARY_OUTPUT_PATH "${CMAKE_BINARY_DIR}/lib")
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endif()
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# Set up build type list for cmake-gui
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if(NOT "${CMAKE_BUILD_TYPE}" STREQUAL "")
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if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
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endif()
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endif()
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# Set up build types for MSVC and XCode
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set(GTSAM_CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
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CACHE STRING "Build types available to MSVC and XCode")
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mark_as_advanced(FORCE GTSAM_CMAKE_CONFIGURATION_TYPES)
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set(CMAKE_CONFIGURATION_TYPES ${GTSAM_CMAKE_CONFIGURATION_TYPES})
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# Check build types
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string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
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if( NOT cmake_build_type_tolower STREQUAL ""
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AND NOT cmake_build_type_tolower STREQUAL "none"
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AND NOT cmake_build_type_tolower STREQUAL "debug"
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AND NOT cmake_build_type_tolower STREQUAL "release"
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AND NOT cmake_build_type_tolower STREQUAL "timing"
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AND NOT cmake_build_type_tolower STREQUAL "profiling"
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AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo"
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AND NOT cmake_build_type_tolower STREQUAL "minsizerel")
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message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo, MinSizeRel (case-insensitive).")
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endif()
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# Enable Visual Studio solution folders
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set_property(GLOBAL PROPERTY USE_FOLDERS On)
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# Function for automatically assigning source folders
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function(gtsam_assign_source_folders)
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set(FILES ${ARGV})
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foreach(file ${FILES})
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file(RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}")
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get_filename_component(relative_path "${relative_file}" PATH)
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file(TO_NATIVE_PATH "${relative_path}" relative_path)
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source_group("${relative_path}" FILES "${file}")
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endforeach()
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endfunction()
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# Find and assign all source and header files
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function(gtsam_assign_all_source_folders)
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file(GLOB_RECURSE all_c_srcs "*.c")
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file(GLOB_RECURSE all_cpp_srcs "*.cpp")
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file(GLOB_RECURSE all_headers "*.h")
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gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}")
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endfunction()
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