mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
056d7bcbbe
Originally started with just swerve, but expanded to diff and mecanum (docs only) for parity across the drivetrains. Return value checks are applied when possible to make migration easier and to error loudly if people forget. --------- Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
228 lines
7.6 KiB
CMake
228 lines
7.6 KiB
CMake
project(wpimath)
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include(SubDirList)
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include(CompileWarnings)
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include(AddTest)
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include(DownloadAndCheck)
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file(
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GLOB wpimath_jni_src
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src/main/native/cpp/jni/DAREJNI.cpp
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src/main/native/cpp/jni/EigenJNI.cpp
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src/main/native/cpp/jni/Exceptions.cpp
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src/main/native/cpp/jni/LinearSystemUtilJNI.cpp
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src/main/native/cpp/jni/Transform3dJNI.cpp
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src/main/native/cpp/jni/Twist3dJNI.cpp
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src/main/native/cpp/jni/autodiff/GradientJNI.cpp
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src/main/native/cpp/jni/autodiff/HessianJNI.cpp
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src/main/native/cpp/jni/autodiff/JacobianJNI.cpp
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src/main/native/cpp/jni/autodiff/VariableJNI.cpp
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src/main/native/cpp/jni/autodiff/VariableMatrixJNI.cpp
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src/main/native/cpp/jni/optimization/ProblemJNI.cpp
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)
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# Java bindings
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if(WITH_JAVA)
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include(UseJava)
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if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.44.0.jar")
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set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
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set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml")
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message(STATUS "Downloading EJML jarfiles...")
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download_and_check(
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"${BASE_URL}org/ejml/ejml-cdense/0.44.0/ejml-cdense-0.44.0.jar"
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"${JAR_ROOT}/ejml-cdense-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-core/0.44.0/ejml-core-0.44.0.jar"
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"${JAR_ROOT}/ejml-core-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-ddense/0.44.0/ejml-ddense-0.44.0.jar"
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"${JAR_ROOT}/ejml-ddense-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-dsparse/0.44.0/ejml-dsparse-0.44.0.jar"
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"${JAR_ROOT}/ejml-dsparse-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-fdense/0.44.0/ejml-fdense-0.44.0.jar"
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"${JAR_ROOT}/ejml-fdense-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-simple/0.44.0/ejml-simple-0.44.0.jar"
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"${JAR_ROOT}/ejml-simple-0.44.0.jar"
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)
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download_and_check(
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"${BASE_URL}org/ejml/ejml-zdense/0.44.0/ejml-zdense-0.44.0.jar"
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"${JAR_ROOT}/ejml-zdense-0.44.0.jar"
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)
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message(STATUS "All files downloaded.")
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endif()
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file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
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file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
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file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
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set(CMAKE_JNI_TARGET true)
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file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
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add_jar(
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wpimath_jar
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${JAVA_SOURCES}
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INCLUDE_JARS
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wpiutil_jar
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wpiunits_jar
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wpiannotations_jar
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${EJML_JARS}
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${AVAJE_JARS}
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${QUICKBUF_JAR}
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OUTPUT_NAME wpimath
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OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
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GENERATE_NATIVE_HEADERS wpimath_jni_headers
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)
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set_property(TARGET wpimath_jar PROPERTY FOLDER "java")
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install_jar(wpimath_jar DESTINATION ${java_lib_dest})
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install_jar_exports(TARGETS wpimath_jar FILE wpimath_jar.cmake DESTINATION share/wpimath)
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add_library(wpimathjni ${wpimath_jni_src})
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wpilib_target_warnings(wpimathjni)
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target_link_libraries(wpimathjni PUBLIC wpimath)
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set_property(TARGET wpimathjni PROPERTY FOLDER "libraries")
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target_link_libraries(wpimathjni PRIVATE wpimath_jni_headers)
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add_dependencies(wpimathjni wpimath_jar)
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install(TARGETS wpimathjni EXPORT wpimathjni)
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export(TARGETS wpimathjni FILE wpimathjni.cmake NAMESPACE wpimathjni::)
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endif()
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if(WITH_JAVA_SOURCE)
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include(UseJava)
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include(CreateSourceJar)
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add_source_jar(
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wpimath_src_jar
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BASE_DIRECTORIES
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${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
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${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
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OUTPUT_NAME wpimath-sources
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OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
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)
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set_property(TARGET wpimath_src_jar PROPERTY FOLDER "java")
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install_jar(wpimath_src_jar DESTINATION ${java_lib_dest})
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endif()
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file(
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GLOB_RECURSE wpimath_native_src
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src/main/native/cpp/*.cpp
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src/main/native/thirdparty/sleipnir/src/*.cpp
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)
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list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
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file(GLOB_RECURSE wpimath_protobuf_native_src src/generated/main/native/cpp/wpimath/protobuf/*.cpp)
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add_library(protobuf OBJECT ${wpimath_protobuf_native_src})
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target_link_libraries(protobuf wpiutil)
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add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
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if(MSVC)
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get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
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set(CONFIG_SUFFIX "$<$<BOOL:${IS_MULTI_CONFIG}>:_$<CONFIG>>")
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file(
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GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
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CONTENT $<LIST:JOIN,$<TARGET_OBJECTS:protobuf>,\n>
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)
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add_custom_command(
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TARGET wpimath
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PRE_LINK
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COMMAND
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cmake -E __create_def ${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def
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${CMAKE_CURRENT_BINARY_DIR}/protobuf_objects${CONFIG_SUFFIX}.txt
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)
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target_link_options(
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wpimath
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PRIVATE
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/DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/protobuf_exports${CONFIG_SUFFIX}.def>
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)
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endif()
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
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set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET wpimath PROPERTY FOLDER "libraries")
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target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
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target_compile_features(wpimath PUBLIC cxx_std_20)
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if(MSVC)
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target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
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endif()
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wpilib_target_warnings(wpimath)
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target_link_libraries(wpimath wpiutil)
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if(NOT USE_SYSTEM_EIGEN)
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install(
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DIRECTORY src/main/native/thirdparty/eigen/include/
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DESTINATION "${include_dest}/wpimath"
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)
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target_include_directories(
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wpimath
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SYSTEM
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
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)
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else()
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find_package(Eigen3 CONFIG REQUIRED)
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target_link_libraries(wpimath Eigen3::Eigen)
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endif()
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install(
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DIRECTORY src/main/native/thirdparty/gcem/include/ src/main/native/thirdparty/sleipnir/include/
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DESTINATION "${include_dest}/wpimath"
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)
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target_include_directories(
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wpimath
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SYSTEM
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/gcem/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
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)
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install(
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DIRECTORY src/generated/main/native/cpp/
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DESTINATION "${include_dest}/wpimath"
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FILES_MATCHING
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PATTERN "*.h"
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)
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install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")
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target_include_directories(
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wpimath
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/cpp>
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$<INSTALL_INTERFACE:${include_dest}/wpimath>
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)
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install(TARGETS wpimath EXPORT wpimath)
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export(TARGETS wpimath FILE wpimath.cmake NAMESPACE wpimath::)
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configure_file(wpimath-config.cmake.in ${WPILIB_BINARY_DIR}/wpimath-config.cmake)
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install(FILES ${WPILIB_BINARY_DIR}/wpimath-config.cmake DESTINATION share/wpimath)
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install(EXPORT wpimath DESTINATION share/wpimath)
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if(WITH_TESTS)
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wpilib_add_test(wpimath src/test/native/cpp)
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target_include_directories(wpimath_test PRIVATE src/test/native/include)
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target_link_libraries(wpimath_test wpimath googletest)
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endif()
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