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110 lines
4.0 KiB
110 lines
4.0 KiB
############################################################################ |
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# |
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name ECL nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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add_library(ecl_EKF |
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airspeed_fusion.cpp |
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control.cpp |
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covariance.cpp |
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drag_fusion.cpp |
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ekf.cpp |
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ekf_helper.cpp |
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estimator_interface.cpp |
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gps_checks.cpp |
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mag_fusion.cpp |
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optflow_fusion.cpp |
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sideslip_fusion.cpp |
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terrain_estimator.cpp |
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vel_pos_fusion.cpp |
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) |
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add_dependencies(ecl_EKF prebuild_targets) |
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target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR}) |
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target_link_libraries(ecl_EKF PRIVATE ecl_geo_lookup) |
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# Python bindings & tests |
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# Use cmake -DPythonTests=1 ../EKF && make pytest |
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if(PythonTests) |
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# Use Python 3.5 |
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set(Python_ADDITIONAL_VERSIONS 3.5) |
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find_package(PythonLibs 3 REQUIRED) |
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find_package(PythonInterp 3 REQUIRED) |
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# Need SWIG to wrap ecl |
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find_package(SWIG REQUIRED) |
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include(${SWIG_USE_FILE}) |
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add_definitions(-DSWIG_TYPE_TABLE=ecl) |
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set_source_files_properties(../swig/ecl.i PROPERTIES CPLUSPLUS ON) |
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set(swigged_sources ekf.h) |
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# Find numpy include |
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execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())" OUTPUT_VARIABLE NUMPY_INCLUDE_DIRS ERROR_QUIET) |
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include_directories( |
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.. |
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${MATRIX_DIR} |
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${EIGEN3_INCLUDE_DIR} |
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${PYTHON_INCLUDE_DIRS} |
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${NUMPY_INCLUDE_DIRS} |
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) |
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set(SWIG_MODULE_ecl_EXTRA_DEPS ${swigged_sources}) |
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swig_add_module(ecl python ../swig/ecl.i) |
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swig_link_libraries(ecl ${PYTHON_LIBRARIES} ecl) |
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add_custom_target(pytest |
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env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --verbose |
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) |
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add_dependencies(pytest ${SWIG_MODULE_ecl_REAL_NAME}) |
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add_custom_target(pytest-quick |
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env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --quick --verbose |
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) |
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add_dependencies(pytest-quick ${SWIG_MODULE_ecl_REAL_NAME}) |
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add_custom_target(pytest-benchmark |
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env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --benchmark |
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) |
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add_dependencies(pytest-benchmark ${SWIG_MODULE_ecl_REAL_NAME}) |
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add_custom_target(pytest-plots |
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env PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ekf_test --plots |
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) |
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add_dependencies(pytest-plots ${SWIG_MODULE_ecl_REAL_NAME}) |
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add_custom_target(pytest-lint |
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COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/ && ${CMAKE_CURRENT_SOURCE_DIR}/tests/pytest/lint |
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) |
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add_dependencies(pytest-lint ${SWIG_MODULE_ecl_REAL_NAME}) |
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endif()
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