CMakeLists.txt

project(eknav)
cmake_minimum_required(VERSION 2.8)

# Compiler options

set(LIBEKNAV_OPTIONS "-DRANK_ONE_UPDATES")
set(MORE_OPTIONS "-DEIGEN_DONT_ALIGN -DEIGEN_DONT_VECTORIZE ${LIBEKNAV_OPTIONS}")
set(OPTIMIZE "-Os -ffast-math -g -ffunction-sections -fdata-sections")
set(WARNINGS "-Wall -Wextra -std=c++11")
set(eknav_CXX_FLAGS "-pipe -fshow-column -fPIC ${OPTIMIZE} ${WARNINGS} ${MORE_OPTIONS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${eknav_CXX_FLAGS}")

include_directories(include)

find_package(Boost REQUIRED COMPONENTS system thread)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
list(APPEND eknav_LINK_LIBS
  ${Boost_SYSTEM_LIBRARY}
  ${Boost_THREAD_LIBRARY}
)

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})

# # print all available variables
# get_cmake_property(_variableNames VARIABLES)
# foreach (_variableName ${_variableNames})
#     message(STATUS "${_variableName}=${${_variableName}}")
# endforeach()

# # Never gets used
# set(INS_QKF_SRCS
#   ins_qkf_predict_ned.cpp
#   ins_qkf_observe_gps_p.cpp
#   ins_qkf_observe_vector.cpp
#   ins_qkf_predict.cpp
#   diagnostics.cpp
#   basic_ins_qkf.cpp
#   pr_ins_qkf.hpp
#   pr_ins_qkf.cpp
# )

# # Compiles, but untested and not used by examples
# set(INS_QKF_NED_SRCS
#   src/eknav/ins_qkf_observe_vector.cpp
#   src/eknav/ins_qkf_predict_ned.cpp
#   src/eknav/basic_ins_qkf.cpp
#   src/eknav/diagnostics.cpp
#   include/posix/timer.hpp
#   src/posix/timer.cpp
# )

# This library will contain both loosely- and closely-coupled versions of the
# GPS/INS
set(INS_QKF_ECEF_SRCS
  include/eknav/pr_ins_qkf.hpp
  include/eknav/posix/timer.hpp
  src/eknav/posix/timer.cpp
  src/eknav/ins_qkf_observe_gps_p.cpp
  src/eknav/ins_qkf_observe_gps_pvt.cpp
  src/eknav/ins_qkf_observe_vector.cpp
  src/eknav/ins_qkf_predict.cpp
  src/eknav/basic_ins_qkf.cpp
  src/eknav/diagnostics.cpp
  src/eknav/pr_ins_qkf.cpp
)

# add_library(eknav-ned ${INS_QKF_NED_SRCS})
# target_link_libraries(eknav-ned ${eknav_LINK_LIBS})

add_library(eknav SHARED ${INS_QKF_ECEF_SRCS})
target_link_libraries(eknav ${eknav_LINK_LIBS})

#
# Example executables
#

add_executable(test_ins_qkf examples/test_ins_qkf.cpp
  src/eknav/ins_qkf_observe_gps_pvt.cpp
  include/eknav/posix/random_seed.hpp
  src/eknav/posix/random_seed.cpp
)
target_link_libraries(test_ins_qkf
  eknav
  ${eknav_LINK_LIBS}
)

add_executable(monte_carlo_pr_ins_qkf examples/monte_carlo_pr_ins_qkf.cpp
  include/eknav/posix/random_seed.hpp
  src/eknav/posix/random_seed.cpp
)
target_link_libraries(monte_carlo_pr_ins_qkf
  eknav
  ${eknav_LINK_LIBS}
)

#
# Install
#

# set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# set(INSTALL_WTIH_RPATH TRUE)
set(CMAKE_INSTALL_PREFIX /usr/local/)
install(
  TARGETS eknav
    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
    # RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
)
install(DIRECTORY include/${PROJECT_NAME}
    DESTINATION ${CMAKE_INSTALL_PREFIX}/include
)
install(FILES Findeknav.cmake
    DESTINATION ${CMAKE_ROOT}/Modules
)