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Merge branch 'develop' of github.com:borglab/gtsam into amg/sim3
2 parents 8f17b5c + 952ce5e commit 461ff96

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‎.github/scripts/python.sh

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@@ -65,14 +65,21 @@ function build()
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# Set to 2 cores so that Actions does not error out during resource provisioning.
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cmake --build build -j2
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$PYTHON -m pip install --user build/python
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cmake --build build --target python-install
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}
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function test()
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{
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cd $GITHUB_WORKSPACE/python/gtsam/tests
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$PYTHON -m unittest discover -v
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cd $GITHUB_WORKSPACE
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cd $GITHUB_WORKSPACE/python/gtsam_unstable/tests
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$PYTHON -m unittest discover -v
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cd $GITHUB_WORKSPACE
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# cmake --build build --target python-test
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# cmake --build build --target python-test-unstable
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}
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# select between build or test

‎.github/workflows/build-python.yml

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@@ -18,6 +18,8 @@ jobs:
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CTEST_PARALLEL_LEVEL: 2
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CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
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PYTHON_VERSION: ${{ matrix.python_version }}
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BOOST_VERSION: 1.72.0
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BOOST_EXE: boost_1_72_0-msvc-14.2
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strategy:
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fail-fast: true
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ubuntu-20.04-gcc-9-tbb,
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ubuntu-20.04-clang-9,
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macOS-11-xcode-13.4.1,
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windows-2019-msbuild,
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]
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build_type: [Release]
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compiler: xcode
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version: "13.4.1"
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- name: windows-2019-msbuild
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os: windows-2019
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platform: 64
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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echo "CC=clang" >> $GITHUB_ENV
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echo "CXX=clang++" >> $GITHUB_ENV
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- name: Setup msbuild (Windows)
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if: runner.os == 'Windows'
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x${{matrix.platform}}
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- name: Setup python (Windows)
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uses: actions/setup-python@v4
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if: runner.os == 'Windows'
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with:
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python-version: ${{ matrix.python_version }}
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- name: Install ninja (Windows)
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if: runner.os == 'Windows'
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shell: bash
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run: |
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choco install ninja
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ninja --version
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where ninja
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- name: Install Boost (Windows)
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if: runner.os == 'Windows'
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shell: powershell
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run: |
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# Snippet from: https://github.com/actions/virtual-environments/issues/2667
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$BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64"
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# Use the prebuilt binary for Windows
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$Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe"
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(New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
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Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH"
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# Set the BOOST_ROOT variable
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echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
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- name: Set GTSAM_WITH_TBB Flag
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if: matrix.flag == 'tbb'
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run: |
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echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
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echo "GTSAM Uses TBB"
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- name: Set Swap Space
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- name: Set Swap Space (Linux)
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if: runner.os == 'Linux'
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uses: pierotofy/set-swap-space@master
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with:
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swap-size-gb: 6
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- name: Install System Dependencies
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- name: Install System Dependencies (Linux, macOS)
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if: runner.os != 'Windows'
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run: |
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bash .github/scripts/python.sh -d
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- name: Install Python Dependencies
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shell: bash
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run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt
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- name: Build
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shell: bash
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run: |
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bash .github/scripts/python.sh -b
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- name: Test
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shell: bash
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run: |
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bash .github/scripts/python.sh -t

‎CMakeLists.txt

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@@ -72,6 +72,7 @@ include(cmake/HandleCCache.cmake) # ccache
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include(cmake/HandleCPack.cmake) # CPack
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include(cmake/HandleEigen.cmake) # Eigen3
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include(cmake/HandleMetis.cmake) # metis
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include(cmake/HandleCephes.cmake) # cephes
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include(cmake/HandleMKL.cmake) # MKL
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include(cmake/HandleOpenMP.cmake) # OpenMP
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include(cmake/HandlePerfTools.cmake) # Google perftools

‎cmake/HandleCephes.cmake

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# ##############################################################################
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# Cephes library
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# For both system or bundle version, a cmake target "cephes-gtsam-if" is defined
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# (interface library)
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add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/cephes)
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list(APPEND GTSAM_EXPORTED_TARGETS cephes-gtsam)
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add_library(cephes-gtsam-if INTERFACE)
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target_link_libraries(cephes-gtsam-if INTERFACE cephes-gtsam)
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list(APPEND GTSAM_EXPORTED_TARGETS cephes-gtsam-if)
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install(
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TARGETS cephes-gtsam-if
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EXPORT GTSAM-exports
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})

‎gtsam/3rdparty/cephes/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10)
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enable_testing()
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project(
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cephes
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DESCRIPTION "Cephes Mathematical Function Library"
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VERSION 1.0.0
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LANGUAGES C)
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set(CEPHES_HEADER_FILES
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cephes.h
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cephes/dd_idefs.h
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cephes/dd_real.h
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cephes/dd_real_idefs.h
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cephes/expn.h
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cephes/igam.h
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cephes/lanczos.h
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cephes/mconf.h
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cephes/polevl.h
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cephes/sf_error.h)
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# Add header files
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install(FILES ${CEPHES_HEADER_FILES} DESTINATION include/gtsam/3rdparty/cephes)
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set(CEPHES_SOURCES
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cephes/airy.c
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cephes/bdtr.c
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cephes/besselpoly.c
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cephes/beta.c
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cephes/btdtr.c
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cephes/cbrt.c
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cephes/chbevl.c
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cephes/chdtr.c
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cephes/const.c
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cephes/dawsn.c
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cephes/dd_real.c
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cephes/ellie.c
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cephes/ellik.c
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cephes/ellpe.c
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cephes/ellpj.c
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cephes/ellpk.c
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cephes/erfinv.c
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cephes/exp10.c
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cephes/exp2.c
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cephes/expn.c
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cephes/fdtr.c
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cephes/fresnl.c
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cephes/gamma.c
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cephes/gammasgn.c
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cephes/gdtr.c
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cephes/hyp2f1.c
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cephes/hyperg.c
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cephes/i0.c
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cephes/i1.c
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cephes/igam.c
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cephes/igami.c
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cephes/incbet.c
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cephes/incbi.c
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cephes/j0.c
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cephes/j1.c
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cephes/jv.c
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cephes/k0.c
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cephes/k1.c
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cephes/kn.c
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cephes/kolmogorov.c
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cephes/lanczos.c
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cephes/nbdtr.c
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cephes/ndtr.c
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cephes/ndtri.c
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cephes/owens_t.c
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cephes/pdtr.c
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cephes/poch.c
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cephes/psi.c
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cephes/rgamma.c
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cephes/round.c
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cephes/sf_error.c
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cephes/shichi.c
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cephes/sici.c
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cephes/sindg.c
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cephes/sinpi.c
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cephes/spence.c
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cephes/stdtr.c
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cephes/tandg.c
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cephes/tukey.c
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cephes/unity.c
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cephes/yn.c
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cephes/yv.c
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cephes/zeta.c
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cephes/zetac.c)
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# Add library source files
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add_library(cephes-gtsam SHARED ${CEPHES_SOURCES})
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# Add include directory (aka headers)
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target_include_directories(
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cephes-gtsam BEFORE PUBLIC $<INSTALL_INTERFACE:include/gtsam/3rdparty/cephes/>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
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set_target_properties(
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cephes-gtsam
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PROPERTIES VERSION ${PROJECT_VERSION}
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SOVERSION ${PROJECT_VERSION_MAJOR}
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C_STANDARD 99)
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if(WIN32)
105+
set_target_properties(
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cephes-gtsam
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PROPERTIES PREFIX ""
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COMPILE_FLAGS /w
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RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
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endif()
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if(APPLE)
113+
set_target_properties(cephes-gtsam PROPERTIES INSTALL_NAME_DIR
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"${CMAKE_INSTALL_PREFIX}/lib")
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endif()
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install(
118+
TARGETS cephes-gtsam
119+
EXPORT GTSAM-exports
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})

‎gtsam/3rdparty/cephes/LICENSE.txt

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MIT License
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

‎gtsam/3rdparty/cephes/README.md

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# README
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This is a vendored version of the Cephes Mathematical Library. The source code can be found on [netlib.org](https://www.netlib.org/cephes/).
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The software is provided with an [MIT License](https://smath.com/en-US/view/CephesMathLibrary/license).
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## Original Readme
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9+
Some software in this archive may be from the book _Methods and
10+
Programs for Mathematical Functions_ (Prentice-Hall or Simon & Schuster
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International, 1989) or from the Cephes Mathematical Library, a
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commercial product. In either event, it is copyrighted by the author.
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What you see here may be used freely but it comes with no support or
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guarantee.
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The two known misprints in the book are repaired here in the
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source listings for the gamma function and the incomplete beta
18+
integral.
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Stephen L. Moshier
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[email protected]

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