126 lines
4.5 KiB
CMake
126 lines
4.5 KiB
CMake
# Build full gtsam_unstable library as a single library
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# and also build tests
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set (gtsam_unstable_subdirs
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base
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geometry
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discrete
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dynamics
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nonlinear
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slam
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)
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set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES})
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add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
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# To exclude a source from the library build (in any subfolder)
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# Add the full name to this list, as in the following example
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# Sources to remove from builds
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set (excluded_sources # "")
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"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp"
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)
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set (excluded_headers # "")
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"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
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)
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# assemble core libaries
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foreach(subdir ${gtsam_unstable_subdirs})
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# Build convenience libraries
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file(GLOB subdir_srcs "${subdir}/*.cpp")
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file(GLOB subdir_headers "${subdir}/*.h")
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list(REMOVE_ITEM subdir_srcs ${excluded_sources})
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list(REMOVE_ITEM subdir_headers ${excluded_headers})
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set(${subdir}_srcs ${subdir_srcs} ${subdir_headers})
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gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure
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# Build local library and tests
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message(STATUS "Building ${subdir}_unstable")
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add_subdirectory(${subdir})
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endforeach(subdir)
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# assemble gtsam_unstable components
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set(gtsam_unstable_srcs
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${base_srcs}
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${geometry_srcs}
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${discrete_srcs}
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${dynamics_srcs}
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${nonlinear_srcs}
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${slam_srcs}
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)
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# Versions - same as core gtsam library
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set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
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set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
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message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
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message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
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# build shared and static versions of the library
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if (GTSAM_BUILD_STATIC_LIBRARY)
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message(STATUS "Building GTSAM_UNSTABLE - static")
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add_library(gtsam_unstable-static STATIC ${gtsam_unstable_srcs})
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set_target_properties(gtsam_unstable-static PROPERTIES
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OUTPUT_NAME gtsam_unstable
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_unstable_version}
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SOVERSION ${gtsam_unstable_soversion})
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if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
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set_target_properties(gtsam_unstable-static PROPERTIES
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PREFIX "lib"
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COMPILE_DEFINITIONS GTSAM_UNSTABLE_IMPORT_STATIC)
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endif()
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target_link_libraries(gtsam_unstable-static gtsam-static ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
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install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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endif()
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if (GTSAM_BUILD_SHARED_LIBRARY)
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message(STATUS "Building GTSAM_UNSTABLE - shared")
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add_library(gtsam_unstable-shared SHARED ${gtsam_unstable_srcs})
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set_target_properties(gtsam_unstable-shared PROPERTIES
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OUTPUT_NAME gtsam_unstable
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_unstable_version}
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SOVERSION ${gtsam_unstable_soversion})
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if(WIN32)
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set_target_properties(gtsam_unstable-shared PROPERTIES
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PREFIX ""
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DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS
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RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
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endif()
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target_link_libraries(gtsam_unstable-shared gtsam-shared ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
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install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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endif()
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# Wrap version for gtsam_unstable
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Set up codegen
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include(GtsamMatlabWrap)
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# TODO: generate these includes programmatically
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# Choose include flags depending on build process
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set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
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set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) # FIXME: is this used?
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set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) # FIXME: is this used?
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set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) # FIXME: is this used?
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if("${gtsam-default}" STREQUAL "gtsam-static")
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# Macro to handle details of setting up targets
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wrap_library(gtsam_unstable "${mexFlags}" "./" "gtsam;${GTSAM_TBB_LIBRARIES}")
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endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Build examples
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if (GTSAM_BUILD_EXAMPLES)
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add_subdirectory(examples)
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endif(GTSAM_BUILD_EXAMPLES)
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