140 lines
4.7 KiB
Makefile
140 lines
4.7 KiB
Makefile
# Makefile for gtsam/cpp
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# Author Frank Dellaert
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# on the Mac, libtool is called glibtool :-(
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# documentation see /opt/local/share/doc/libtool-1.5.26/manual.html
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ifeq ($(shell uname),Darwin)
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LIBTOOL = glibtool
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else
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LIBTOOL = libtool
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endif
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INSTALL = install
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# C++ flags
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CXXFLAGS += -isystem $(BOOST_DIR) -O5
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CXXFLAGS += -DBOOST_UBLAS_NDEBUG
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# specify the source files
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# basic
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sources = Vector.cpp svdcmp.cpp Matrix.cpp numericalDerivative.cpp Ordering.cpp
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# nodes
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sources += FGConfig.cpp LinearFactor.cpp ConditionalGaussian.cpp NonlinearFactor.cpp
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# graphs
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sources += FactorGraph.cpp LinearFactorGraph.cpp NonlinearFactorGraph.cpp ChordalBayesNet.cpp
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# geometry
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sources += Point2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
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# The header files will be installed in ~/include/gtsam
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headers = Value.h factor.h linearfactorset.h $(sources:.cpp=.h)
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# conventional object files
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object_files = $(sources:.cpp=.o)
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# For libtool to build a shared library, we need "shared" object files with extension .lo
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shared_object_files = $(sources:.cpp=.lo)
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# rule for shared compiling shared_object_files
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%.lo: %.o
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# rule for shared compiling shared_object_files
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%.lo: %.cpp
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$(LIBTOOL) --tag=CXX --mode=compile $(COMPILE.cpp) $(OUTPUT_OPTION) $<
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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 release of your software.
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# If the library source code has changed at all since the last update, then increment revision
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# If any interfaces have been added, removed, or changed since the last update, increment current, and set revision to 0.
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# If any interfaces have been added since the last public release, then increment age.
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# If any interfaces have been removed since the last public release, then set age to 0.
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version = $(current):$(revision):$(age)
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# this builds the shared library
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# note that libgtsam.la is the libtool target
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# the actual library is built in the hidden subdirectory .libs
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libgtsam.la : $(shared_object_files)
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$(LIBTOOL) --tag=CXX --mode=link g++ -version-info $(version) -o libgtsam.la -rpath $(HOME)/lib $(shared_object_files)
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# shortcut
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lib: libgtsam.la
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# this builds the static library (used for unit testing)
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# object files will be only ones remade if a file is touched because deps broken
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libgtsam.a : $(shared_object_files) $(object_files)
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$(LIBTOOL) --tag=CXX --mode=link g++ -o libgtsam.a -static $(HOME)/lib $(shared_object_files)
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# and this installs the shared library
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install: libgtsam.la
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$(INSTALL) -d $(HOME)/include/gtsam
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rm -f $(HOME)/include/gtsam/typedefs.h
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cp -f $(headers) $(HOME)/include/gtsam
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$(LIBTOOL) --mode=install cp libgtsam.la $(HOME)/lib/libgtsam.la
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# create the MATLAB toolbox
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interfacePath = .
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moduleName = gtsam
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toolboxpath = $(HOME)/toolbox/gtsam
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mexFlags = "-I$(BOOST_DIR) -I$(HOME)/include -I$(HOME)/include/gtsam -L$(HOME)/lib -lgtsam"
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matlab:
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wrap $(interfacePath) $(moduleName) $(toolboxpath) $(mexFlags)
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# unit tests
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unit-tests = $(shell ls test*.cpp)
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unit-tests: $(unit-tests:.cpp=.run)
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# timing tests
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timing-tests = $(shell ls time*.cpp)
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timing-tests: $(timing-tests:.cpp=.run)
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# local executables are for testing and timing
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executables = $(unit-tests:.cpp=) $(timing-tests:.cpp=)
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# link flags
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INCDIR ?= $(HOME)/include
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LIBDIR ?= $(HOME)/lib
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$(executables) : simulated2D.o smallExample.o libgtsam.a
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$(executables) : LDFLAGS += -I. -I$(INCDIR)
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$(executables) : LDLIBS += libgtsam.a -L$(LIBDIR) -lCppUnitLite
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tests: unit-tests timing-tests
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clean-tests:
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-rm -rf $(executables)
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# make a version of timeLinearFactor instrumented for Saturn profiler
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saturn: timeLinearFactor
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saturn: CXXFLAGS += -finstrument-functions
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saturn: LDLIBS += -lSaturn
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# rule to run an executable
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%.run: %
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./$^
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# clean will remove the hidden .libs directory by libtool as well
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clean: clean-tests
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-rm -rf *.d *.o *.lo *.a *.la .libs *.dSYM
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.PHONY: clean clean-tests unit-tests timing-tests matlab deps
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# dependecy generation as described in
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# http://www.wlug.org.nz/MakefileHowto
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all-sources = $(sources) smallExample.cpp simulated2D.cpp
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# when building object files, -MMD specifies dependency generation into .d files
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(all-sources:.cpp=.o): CXXFLAGS += -MMD
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deps := $(all-sources:.cpp=.d)
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deps: $(all-sources)
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$(CXX) -MMD -E $(CXXFLAGS) -I. -I$(INCDIR) $(all-sources) > /dev/null
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-include $(deps)
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