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Progress porting mrpt_math
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‎.gitignore‎

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@@ -46,3 +46,4 @@ doc/source/doxygen-index.rst
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.cmake
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doc/venv
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.pc
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.cache

‎cmakemodules/script_show_final_summary.cmake‎

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@@ -139,7 +139,6 @@ SHOW_CONFIG_LINE_SYSTEM("OpenGL EGL " CMAKE_MRPT_HAS_EG
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SHOW_CONFIG_LINE_SYSTEM("OpenGL GLES " CMAKE_MRPT_HAS_GLES "[Version: ${GLESV2_VERSION}]")
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SHOW_CONFIG_LINE_SYSTEM("GLUT " CMAKE_MRPT_HAS_GLUT)
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SHOW_CONFIG_LINE_SYSTEM("PCAP (Wireshark logs for Velodyne) " CMAKE_MRPT_HAS_LIBPCAP)
142-
SHOW_CONFIG_LINE_SYSTEM("SuiteSparse " CMAKE_MRPT_HAS_SUITESPARSE "[Version: ${SuiteSparse_VERSION}]")
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SHOW_CONFIG_LINE_SYSTEM("TBB " CMAKE_MRPT_HAS_TBB "[Version: ${TBB_VERSION}]")
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SHOW_CONFIG_LINE_SYSTEM("tinyxml2 " CMAKE_MRPT_HAS_TINYXML2)
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SHOW_CONFIG_LINE_SYSTEM("wxWidgets " CMAKE_MRPT_HAS_WXWIDGETS "[Version: ${wxWidgets_VERSION_STRING} ${CMAKE_WXWIDGETS_TOOLKIT_NAME}]")

‎cmakemodules/script_suitesparse.cmake‎

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‎doc/source/doxygen-docs/dependencies.md‎

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@@ -83,12 +83,3 @@ See:
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- [Example code](https://github.com/MRPT/mrpt/tree/master/doc/mrpt-zeromq-example):
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- Publisher: [main_pub.cpp](https://github.com/MRPT/mrpt/blob/master/doc/mrpt-zeromq-example/main_pub.cpp)
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- Subscriber: [main_sub.cpp](https://github.com/MRPT/mrpt/blob/master/doc/mrpt-zeromq-example/main_sub.cpp)
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### `suitesparse`
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This suite provides many efficient sparse algebra routines, e.g. CHOLMOD.
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SuiteSparse's CSparse library: Mandatory, but an embedded version exists if the library is not found in the system.
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Used in these classes:
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- mrpt::math::CSparseMatrix relies on the CSparse library.

‎modules/mrpt_common/cmake/mrpt_cmake_functions.cmake‎

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@@ -243,8 +243,6 @@ endfunction()
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# -----------------------------------------------------------------------------
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function(mrpt_configure_library TARGETNAME HEADERS_ONLY_LIBRARY ADDITIONAL_EXPORT_TARGETS CMAKE_DEPS)
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246-
message(STATUS "HEADERS_ONLY_LIBRARY: ${HEADERS_ONLY_LIBRARY}")
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# Public hdrs interface:
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if (HEADERS_ONLY_LIBRARY)
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target_include_directories(${TARGETNAME} INTERFACE

‎modules/mrpt_math/CMakeLists.txt‎

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@@ -1,26 +1,24 @@
1-
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include(${MRPT_SOURCE_DIR}/cmakemodules/script_eigen.cmake REQUIRED) # Eigen3
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include(${MRPT_SOURCE_DIR}/cmakemodules/script_nanoflann.cmake REQUIRED) # Check for nanoflann
4-
include(${MRPT_SOURCE_DIR}/cmakemodules/script_suitesparse.cmake REQUIRED) # SuiteSparse libs
1+
# ------------------------------------------------------------------------------
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# Mobile Robot Programming Toolkit (MRPT)
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#
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# Copyright (c) 2005-2025, Jose Luis Blanco-Claraco, contributors (see Git history)
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# All rights reserved.
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# Released under BSD-3 license. See LICENSE file
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# ------------------------------------------------------------------------------
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cmake_minimum_required(VERSION 3.16)
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7-
# See "DeclareMRPTLib.cmake"
8-
list(APPEND math_EXTRA_SRCS "${MRPT_LIBS_ROOT}/math/*.cpp" "${MRPT_LIBS_ROOT}/math/*.h")
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list(APPEND math_EXTRA_SRCS_NAME "math" "math")
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# Tell CMake we'll use C++ for use in its tests/flags
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project(mrpt_math LANGUAGES C CXX)
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# CSparse
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if(NOT CMAKE_MRPT_HAS_SUITESPARSE)
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list(APPEND math_EXTRA_SRCS "${MRPT_LIBS_ROOT}/math/src/CSparse/*.c" "${MRPT_LIBS_ROOT}/math/include/mrpt/3rdparty/CSparse/*.h")
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list(APPEND math_EXTRA_SRCS_NAME "math/CSparse" "math/CSparse")
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include_directories("${MRPT_LIBS_ROOT}/math/include/mrpt/3rdparty/CSparse/")
16-
endif()
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# kmeans++
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list(APPEND math_EXTRA_SRCS "${MRPT_LIBS_ROOT}/math/src/kmeans++/*.cpp" "${MRPT_LIBS_ROOT}/math/src/kmeans++/*.h")
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list(APPEND math_EXTRA_SRCS_NAME "math/kmeans" "math/kmeans")
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# MRPT CMake scripts: "mrpt_xxx()"
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find_package(mrpt_common REQUIRED)
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find_package(mrpt_system REQUIRED)
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find_package(mrpt_serialization REQUIRED)
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find_package(mrpt_random REQUIRED)
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# extra dependencies required by unit tests in this module:
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set_property(GLOBAL PROPERTY mrpt_math_UNIT_TEST_EXTRA_DEPS mrpt-io)
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include(./cmake/script_eigen.cmake REQUIRED) # Eigen3
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include(./cmake/script_nanoflann.cmake REQUIRED) # Check for nanoflann
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# eigen3:
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if (MRPT_EIGEN_USE_EMBEDDED_VERSION)
@@ -29,71 +27,209 @@ else()
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set(eigen_dep Eigen3) # find_package() lib name
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endif()
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32-
# For Ubuntu 16.04, the Eigen version does not support imported target,
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# so create it ourselves in the mrpt-math-config.cmake file:
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set(EXTRA_CONFIG_CMDS
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"if (NOT TARGET Eigen3::Eigen)\n\
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add_library(Eigen3::Eigen INTERFACE IMPORTED GLOBAL)\n\
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if (TARGET Eigen)\n\
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target_link_libraries(Eigen3::Eigen INTERFACE Eigen)\n\
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else()\n\
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if(EXISTS \"${EIGEN3_INCLUDE_DIR}\")\n\
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set(eigen_dirs ${EIGEN3_INCLUDE_DIR})\n\
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else()\n\
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set(eigen_dirs ${EIGEN_EMBEDDED_INCLUDE_DIR})\n\
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endif()\n\
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set_target_properties(Eigen3::Eigen PROPERTIES\n\
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INTERFACE_INCLUDE_DIRECTORIES\n\
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$<BUILD_INTERFACE:\${eigen_dirs}>\n\
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)\n\
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endif()\n\
50-
endif()\n"
30+
# define lib:
31+
set(LIB_SRCS
32+
src/A_MatrixBase_instantiate_CMatrixDynamic_d.cpp
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src/A_MatrixBase_instantiate_CMatrixDynamic_f.cpp
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src/CAtan2LookUpTable.cpp
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src/CAtan2LookUpTable_unittest.cpp
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src/CHistogram.cpp
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src/CLevenbergMarquardt_unittest.cpp
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src/CMatrixB.cpp
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src/CMatrixD.cpp
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src/CMatrixDynamic.cpp
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src/CMatrixDynamic_unittest.cpp
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src/CMatrixF.cpp
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src/CMatrixFixed.cpp
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src/CMatrixFixed_unittest.cpp
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src/container_ops_unittest.cpp
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src/CPolygon.cpp
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src/CSparseMatrix.cpp
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src/CSparseMatrix_unittest.cpp
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src/CSplineInterpolator1D.cpp
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src/CVectorDynamic.cpp
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src/CVectorFixed.cpp
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src/distributions_unittest.cpp
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src/EigenAlignment_unittest.cpp
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src/filters.cpp
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src/fourier.cpp
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src/fresnel.cpp
57+
src/fresnel_unittest.cpp
58+
src/geometry.cpp
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src/geometry_unittest.cpp
60+
src/KDTreeCapable_unittest.cpp
61+
src/kmeans.cpp
62+
src/kmeans++/KMeans.cpp
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src/kmeans++/KmTree.cpp
64+
src/kmeans++/KmUtils.cpp
65+
src/math.cpp
66+
src/MatrixBase_instantiate_CMatrixFixed_22_d.cpp
67+
src/MatrixBase_instantiate_CMatrixFixed_22_f.cpp
68+
src/MatrixBase_instantiate_CMatrixFixed_33_d.cpp
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src/MatrixBase_instantiate_CMatrixFixed_33_f.cpp
70+
src/matrix_ops1_unittest.cpp
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src/matrix_ops2_unittest.cpp
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src/matrix_ops3_unittest.cpp
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src/matrix_ops4_unittest.cpp
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src/matrix_ops5_unittest.cpp
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src/matrix_ops_unittest.cpp
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src/MatrixVectorBase_instantiate_CMatrixDynamic_d.cpp
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src/MatrixVectorBase_instantiate_CMatrixDynamic_f.cpp
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src/MatrixVectorBase_instantiate_CMatrixDynamic_ints.cpp
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src/MatrixVectorBase_instantiate_CMatrixFixed.cpp
80+
src/MatrixVectorBase_instantiate_CVectorDynamic.cpp
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src/MatrixVectorBase_instantiate_CVectorFixed.cpp
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src/matrix_yaml_unittest.cpp
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src/model_search.cpp
84+
src/poly_roots.cpp
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src/poly_roots_unittest.cpp
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src/ransac_applications.cpp
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src/registerAllClasses.cpp
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src/robust_kernels_unittest.cpp
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src/slerp.cpp
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src/slerp_unittest.cpp
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src/S_MatrixBase_instantiate_CMatrixFixed_66_d.cpp
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src/S_MatrixBase_instantiate_CMatrixFixed_66_f.cpp
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src/S_MatrixBase_instantiate_CMatrixFixed_77_d.cpp
94+
src/TBoundingBox.cpp
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src/TBoundingBox_unittest.cpp
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src/TLine2D.cpp
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src/TLine3D.cpp
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src/TObject2D.cpp
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src/TObject3D.cpp
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src/TPlane.cpp
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src/TPoint2D.cpp
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src/TPoint3D.cpp
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src/TPolygon2D.cpp
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src/TPolygon3D.cpp
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src/TPolygonWithPlane.cpp
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src/TPose2D.cpp
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src/TPose3D.cpp
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src/TPose3DQuat.cpp
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src/TPoseOrPoint_unittest.cpp
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src/TSegment2D.cpp
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src/TSegment3D.cpp
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src/Twist2D.cpp
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src/Twist3D.cpp
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src/wrap2pi_unittest.cpp
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src/Z_MatrixBase_instantiate_CMatrixFixed_44_d.cpp
116+
src/Z_MatrixBase_instantiate_CMatrixFixed_44_f.cpp
51117
)
52118

53-
define_mrpt_lib(
54-
math # Lib name
55-
# Dependencies:
56-
mrpt-serialization
57-
mrpt-random
58-
mrpt-system
59-
# Other imported targets:
60-
nanoflann # find_package() lib name
61-
${eigen_dep}
62-
)
119+
set(LIB_PUBLIC_HDRS
120+
include/mrpt/3rdparty/CSparse/cs.h
121+
include/mrpt/math/CAtan2LookUpTable.h
122+
include/mrpt/math/CBinaryRelation.h
123+
include/mrpt/math/CHistogram.h
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include/mrpt/math/CLevenbergMarquardt.h
125+
include/mrpt/math/CMatrixB.h
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include/mrpt/math/CMatrixD.h
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include/mrpt/math/CMatrixDynamic.h
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include/mrpt/math/CMatrixF.h
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include/mrpt/math/CMatrixFixed.h
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include/mrpt/math/CMonteCarlo.h
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include/mrpt/math/CPolygon.h
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include/mrpt/math/CProbabilityDensityFunction.h
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include/mrpt/math/CQuaternion.h
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include/mrpt/math/CSparseMatrixTemplate.h
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include/mrpt/math/CSplineInterpolator1D.h
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include/mrpt/math/CVectorDynamic.h
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include/mrpt/math/CVectorFixed.h
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include/mrpt/math/data_utils.h
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include/mrpt/math/distributions.h
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include/mrpt/math/eigen_extensions.h
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include/mrpt/math/epsilon.h
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include/mrpt/math/filters.h
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include/mrpt/math/fourier.h
144+
include/mrpt/math/fresnel.h
145+
include/mrpt/math/geometry.h
146+
include/mrpt/math/gtsam_wrappers.h
147+
include/mrpt/math/homog_matrices.h
148+
include/mrpt/math/interp_fit.h
149+
include/mrpt/math/KDTreeCapable.h
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include/mrpt/math/kmeans.h
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include/mrpt/math/mat2eig.h
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include/mrpt/math/math_frwds.h
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include/mrpt/math/matrix_adaptors.h
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include/mrpt/math/MatrixBase.h
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include/mrpt/math/MatrixBlockSparseCols.h
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include/mrpt/math/matrix_serialization.h
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include/mrpt/math/matrix_size_t.h
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include/mrpt/math/MatrixVectorBase.h
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include/mrpt/math/model_search.h
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include/mrpt/math/model_search_impl.h
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include/mrpt/math/num_jacobian.h
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include/mrpt/math/ops_containers.h
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include/mrpt/math/ops_matrices.h
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include/mrpt/math/ops_vectors.h
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include/mrpt/math/point_poses2vectors.h
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include/mrpt/math/poly_roots.h
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include/mrpt/math/ransac_applications.h
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include/mrpt/math/ransac.h
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include/mrpt/math/ransac_impl.h
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include/mrpt/math/registerAllClasses.h
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include/mrpt/math/robust_kernels.h
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include/mrpt/math/slerp.h
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include/mrpt/math/TBoundingBox.h
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include/mrpt/math/TLine2D.h
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include/mrpt/math/TLine3D.h
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include/mrpt/math/TObject2D.h
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include/mrpt/math/TObject3D.h
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include/mrpt/math/TPlane.h
179+
include/mrpt/math/TPoint2D.h
180+
include/mrpt/math/TPoint3D.h
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include/mrpt/math/TPolygon2D.h
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include/mrpt/math/TPolygon3D.h
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include/mrpt/math/TPolygonWithPlane.h
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include/mrpt/math/TPose2D.h
185+
include/mrpt/math/TPose3D.h
186+
include/mrpt/math/TPose3DQuat.h
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include/mrpt/math/TPoseOrPoint.h
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include/mrpt/math/transform_gaussian.h
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include/mrpt/math/TSegment2D.h
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include/mrpt/math/TSegment3D.h
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include/mrpt/math/TTwist2D.h
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include/mrpt/math/TTwist3D.h
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include/mrpt/math/utils.h
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include/mrpt/math/utils_matlab.h
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include/mrpt/math/wrap2pi.h
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)
63197

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if(BUILD_mrpt-math)
65-
# Ignore precompiled headers in some sources:
66-
if(MRPT_ENABLE_PRECOMPILED_HDRS AND MSVC)
67-
set_source_files_properties(
68-
${math/CSparse_FILES}
69-
${math/kmeans_FILES}
70-
PROPERTIES COMPILE_FLAGS "/Y-"
71-
)
72-
endif()
198+
mrpt_add_library(
199+
TARGET ${PROJECT_NAME}
200+
SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
201+
PUBLIC_LINK_LIBRARIES
202+
mrpt::mrpt_system
203+
mrpt::mrpt_serialization
204+
mrpt::mrpt_random
205+
Eigen3::Eigen
206+
nanoflann::nanoflann
207+
# PRIVATE_LINK_LIBRARIES
208+
CMAKE_DEPENDENCIES
209+
mrpt_system
210+
mrpt_serialization
211+
mrpt_random
212+
# Other imported targets:
213+
nanoflann # find_package() lib name
214+
${eigen_dep}
215+
)
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74-
# eigen3:
75-
target_link_libraries(math PUBLIC Eigen3::Eigen)
76-
if (MSVC)
77-
# This is to prevent the error (in Debug builds):
78-
# LNK1189：library limit of 65535 objects exceeded
79-
target_compile_options(math PRIVATE /Ob2)
80-
endif()
217+
# extra dependencies required by unit tests in this module:
218+
#set_property(GLOBAL PROPERTY mrpt_math_UNIT_TEST_EXTRA_DEPS mrpt-io)
81219

82-
# nanoflann:
83-
target_link_libraries(math PUBLIC nanoflann::nanoflann)
84220

85-
if (TARGET SuiteSparse::CXSparse)
86-
# Modern cmake interface?
87-
target_link_libraries(math PUBLIC SuiteSparse::CXSparse)
88-
else()
89-
if (NOT "${SuiteSparse_LIBRARIES}" STREQUAL "")
90-
target_link_libraries(math PRIVATE ${SuiteSparse_LIBRARIES})
91-
endif ()
92-
if (NOT "${SuiteSparse_LIBRARIES}" STREQUAL "")
93-
target_include_directories(math PUBLIC ${SuiteSparse_INCLUDE_DIRS})
94-
endif ()
95-
endif()
221+
# Ignore precompiled headers in some sources:
222+
#if(MRPT_ENABLE_PRECOMPILED_HDRS AND MSVC)
223+
# set_source_files_properties(
224+
# ${math/CSparse_FILES}
225+
# ${math/kmeans_FILES}
226+
# PROPERTIES COMPILE_FLAGS "/Y-"
227+
# )
228+
#endif()
96229

97-
# Minimize debug info for this module:
98-
#mrpt_reduced_debug_symbols(math)
99-
endif()
230+
# Still needed?
231+
#if (MSVC)
232+
# # This is to prevent the error (in Debug builds):
233+
# # LNK1189：library limit of 65535 objects exceeded
234+
# target_compile_options(math PRIVATE /Ob2)
235+
#endif()

‎cmakemodules/script_eigen.cmake‎ renamed to ‎modules/mrpt_math/cmake/script_eigen.cmake‎

File renamed without changes.

‎cmakemodules/script_nanoflann.cmake‎ renamed to ‎modules/mrpt_math/cmake/script_nanoflann.cmake‎

File renamed without changes.

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