Skip to content

Commit e89b312

Browse files
Saurav AgarwalSaurav Agarwal
Saurav Agarwal
authored and
Saurav Agarwal
committed
update build system
1 parent 238c594 commit e89b312

3 files changed

Lines changed: 24 additions & 15 deletions

File tree

‎core/CMakeLists.txt‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,11 @@ include(GNUInstallDirs)
1212

1313
list(APPEND CMAKE_PREFIX_PATH $ENV{COVERAGECONTROL_WS}/install)
1414

15+
if(NOT DEFINED CMAKE_CUDA_STANDARD)
16+
set(CMAKE_CUDA_STANDARD 17)
17+
set(CMAKE_CUDA_STANDARD_REQUIRED ON)
18+
endif()
19+
1520
find_package(OpenMP REQUIRED)
1621
find_package(Eigen3 REQUIRED)
1722
find_package(pybind11 REQUIRED)

‎core/src/coverage_system.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -6,14 +6,14 @@ namespace CoverageControl {
66

77
void CoverageSystem::PlotSystemMap(std::string const &dir_name, int const &step, std::vector<int> const &robot_status) const {
88
Plotter<MapType> plotter(dir_name, params_.pWorldMapSize * params_.pResolution, params_.pResolution);
9-
plotter.SetScale(2);
9+
plotter.SetScale(4);
1010
plotter.SetPlotName("map", step);
1111
plotter.PlotMap(system_map_, robot_global_positions_, robot_positions_history_, robot_status);
1212
}
1313

1414
void CoverageSystem::PlotWorldMap(std::string const &dir_name) const {
1515
Plotter<MapType> plotter(dir_name, params_.pWorldMapSize * params_.pResolution, params_.pResolution);
16-
plotter.SetScale(2);
16+
plotter.SetScale(4);
1717
plotter.SetPlotName("WorldMap");
1818
plotter.PlotMap(GetWorldIDF());
1919
}

‎setup.sh‎

Lines changed: 17 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -18,11 +18,13 @@ INSTALL_DIR=${COVERAGECONTROL_WS}/install
1818

1919
mkdir -p ${COVERAGECONTROL_WS}/src
2020

21+
CMAKE_END_FLAGS="-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release"
22+
2123
InstallCGAL () {
2224
echo "Setting up CGAL"
2325
wget https://github.com/CGAL/cgal/releases/download/v5.5.1/CGAL-5.5.1-library.tar.xz -P ${COVERAGECONTROL_WS}/src
2426
tar -xf ${COVERAGECONTROL_WS}/src/CGAL-5.5.1-library.tar.xz -C ${COVERAGECONTROL_WS}/src/
25-
cmake -S ${COVERAGECONTROL_WS}/src/CGAL-5.5.1 -B ${BUILD_DIR}/cgal -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release
27+
cmake -S ${COVERAGECONTROL_WS}/src/CGAL-5.5.1 -B ${BUILD_DIR}/cgal ${CMAKE_END_FLAGS}
2628
cmake --install ${BUILD_DIR}/cgal
2729
if [ $? -eq 0 ]; then
2830
echo "cgal install succeeded"
@@ -38,8 +40,8 @@ InstallGeoGraphicLib () {
3840
echo "Setting up geographiclib"
3941
wget https://github.com/geographiclib/geographiclib/archive/refs/tags/v2.1.2.tar.gz -P ${COVERAGECONTROL_WS}/src
4042
tar -xf ${COVERAGECONTROL_WS}/src/v2.1.2.tar.gz -C ${COVERAGECONTROL_WS}/src/
41-
cmake -S ${COVERAGECONTROL_WS}/src/geographiclib-2.1.2 -B ${BUILD_DIR}/geographiclib -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release
42-
cmake --build ${BUILD_DIR}/geographiclib
43+
cmake -S ${COVERAGECONTROL_WS}/src/geographiclib-2.1.2 -B ${BUILD_DIR}/geographiclib ${CMAKE_END_FLAGS}
44+
cmake --build ${BUILD_DIR}/geographiclib -j$(nproc)
4345
cmake --install ${BUILD_DIR}/geographiclib
4446
if [ $? -eq 0 ]; then
4547
echo "geographiclib install succeeded"
@@ -53,25 +55,26 @@ InstallGeoGraphicLib () {
5355

5456
InstallPybind11 () {
5557
echo "Setting up pybind11"
56-
wget https://github.com/pybind/pybind11/archive/refs/tags/v2.10.1.tar.gz -P ${COVERAGECONTROL_WS}/src
57-
tar -xf ${COVERAGECONTROL_WS}/src/v2.10.1.tar.gz -C ${COVERAGECONTROL_WS}/src/
58-
cmake -S ${COVERAGECONTROL_WS}/src/pybind11-2.10.1 -B ${BUILD_DIR}/pybind11 -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release
58+
wget https://github.com/pybind/pybind11/archive/refs/tags/v2.10.3.tar.gz -P ${COVERAGECONTROL_WS}/src
59+
tar -xf ${COVERAGECONTROL_WS}/src/v2.10.3.tar.gz -C ${COVERAGECONTROL_WS}/src/
60+
cmake -S ${COVERAGECONTROL_WS}/src/pybind11-2.10.3 -B ${BUILD_DIR}/pybind11 ${CMAKE_END_FLAGS} -DPYBIND11_TEST=OFF
61+
cmake --build ${BUILD_DIR}/pybind11 -j$(nproc)
5962
cmake --install ${BUILD_DIR}/pybind11
6063
if [ $? -eq 0 ]; then
6164
echo "pybind11 install succeeded"
6265
else
6366
echo "pybind11 install failed"
6467
exit 1
6568
fi
66-
rm ${COVERAGECONTROL_WS}/src/v2.10.1.tar.gz
67-
rm -rf ${COVERAGECONTROL_WS}/src/pybind11-2.10.1
69+
rm ${COVERAGECONTROL_WS}/src/v2.10.3.tar.gz
70+
rm -rf ${COVERAGECONTROL_WS}/src/pybind11-2.10.3
6871
}
6972

7073
InstallYamlCPP () {
7174
echo "Setting up yaml-cpp"
7275
git clone https://github.com/jbeder/yaml-cpp.git ${COVERAGECONTROL_WS}/src/yaml-cpp
73-
cmake -S ${COVERAGECONTROL_WS}/src/yaml-cpp -B ${BUILD_DIR}/yaml-cpp -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DYAML_BUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release
74-
cmake --build ${BUILD_DIR}/yaml-cpp -j4
76+
cmake -S ${COVERAGECONTROL_WS}/src/yaml-cpp -B ${BUILD_DIR}/yaml-cpp -DYAML_BUILD_SHARED_LIBS=ON ${CMAKE_END_FLAGS}
77+
cmake --build ${BUILD_DIR}/yaml-cpp -j$(nproc)
7578
if [ $? -ne 0 ]; then
7679
echo "YAML build failed"
7780
fi
@@ -89,7 +92,8 @@ InstallEigen3 () {
8992
echo "Setting up eigen3"
9093
wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz -P ${COVERAGECONTROL_WS}/src
9194
tar -xf ${COVERAGECONTROL_WS}/src/eigen-3.4.0.tar.gz -C ${COVERAGECONTROL_WS}/src/
92-
cmake -S ${COVERAGECONTROL_WS}/src/eigen-3.4.0 -B ${BUILD_DIR}/eigen3 -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release
95+
cmake -S ${COVERAGECONTROL_WS}/src/eigen-3.4.0 -B ${BUILD_DIR}/eigen3 ${CMAKE_END_FLAGS}
96+
cmake --build ${BUILD_DIR}/eigen3
9397
cmake --install ${BUILD_DIR}/eigen3
9498
if [ $? -eq 0 ]; then
9599
echo "eigen3 install succeeded"
@@ -111,8 +115,8 @@ CleanBuild () {
111115
UpdateCoverageControl () {
112116
# Run the following commands to update after a change in the repository
113117
# The CoverageControl repository is located in ${COVERAGECONTROL_WS}/src/CoverageControl
114-
cmake -S ${COVERAGECONTROL_WS}/src/CoverageControl -B ${BUILD_DIR}/CoverageControl -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release
115-
cmake --build ${BUILD_DIR}/CoverageControl
118+
cmake -S ${COVERAGECONTROL_WS}/src/CoverageControl -B ${BUILD_DIR}/CoverageControl ${CMAKE_END_FLAGS}
119+
cmake --build ${BUILD_DIR}/CoverageControl -j$(nproc)
116120
if [ $? -ne 0 ]; then
117121
echo "CoverageControl build failed"
118122
exit 1

0 commit comments

Comments
 (0)