ready to start with OpenCL

CMakeLists.txt

@@ -70,3 +70,4 @@ add_subdirectory(cpp/fastslam1)
 add_subdirectory(cpp/fastslam2)
 
 # Adding test directories
+add_subdirectory(cpp/gtest)

cmake/CMakeCache.txt

@@ -0,0 +1,327 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ylee8/FastSLAM/cmake
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Produce shared libraries.
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=Debug
+
+CMAKE_BUILD_WITH_INSTALL_RPATH:BOOL=FALSE
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/ylee8/FastSLAM/build
+
+CMAKE_INSTALL_RPATH_USE_LINK_PATH:BOOL=TRUE
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=FSLAM
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+CMAKE_SKIP_BUILD_RPATH:BOOL=FALSE
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a file.
+EIGEN3_INCLUDE_DIR:PATH=/usr/include/eigen3
+
+//Link against the google perftools.
+ENABLE_PROFILING:BOOL=OFF
+
+//Use RPaths in executables to find shared libraries.
+ENABLE_RPATHS:BOOL=ON
+
+//Link against the google perftools's tcmalloc.
+ENABLE_TCMALLOC:BOOL=OFF
+
+//Value Computed by CMake
+FSLAM_BINARY_DIR:STATIC=/home/ylee8/FastSLAM/cmake
+
+//Build the FastSLAM test tools.
+FSLAM_BUILD_TOOLS:BOOL=ON
+
+//Value Computed by CMake
+FSLAM_SOURCE_DIR:STATIC=/home/ylee8/FastSLAM
+
+//Dependencies for the target
+FastSLAM1_LIB_DEPENDS:STATIC=general;FastSLAM_core;
+
+//Dependencies for the target
+FastSLAM2_LIB_DEPENDS:STATIC=general;FastSLAM_core;
+
+//Dependencies for target
+FastSLAM_core_LIB_DEPENDS:STATIC=
+
+//Path to a file.
+GOOGLE_PERFTOOLS_INCLUDE_DIR:PATH=GOOGLE_PERFTOOLS_INCLUDE_DIR-NOTFOUND
+
+//Path to a library.
+PROFILER_LIBRARY:FILEPATH=PROFILER_LIBRARY-NOTFOUND
+
+//Path to a library.
+STACKTRACE_LIBRARY:FILEPATH=STACKTRACE_LIBRARY-NOTFOUND
+
+//Path to a library.
+TCMALLOC_LIBRARY:FILEPATH=TCMALLOC_LIBRARY-NOTFOUND
+
+//Dependencies for the target
+Test_LIB_DEPENDS:STATIC=general;test_core;
+
+//Dependencies for target
+gtest_LIB_DEPENDS:STATIC=
+
+//Dependencies for the target
+test_LIB_DEPENDS:STATIC=general;test_core;
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_BUILD_TOOL
+CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
+//What is the target build tool cmake is generating for.
+CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
+//MODIFIED property for variable: CMAKE_BUILD_TYPE
+CMAKE_BUILD_TYPE-MODIFIED:INTERNAL=ON
+//ADVANCED property for variable: CMAKE_BUILD_WITH_INSTALL_RPATH
+CMAKE_BUILD_WITH_INSTALL_RPATH-ADVANCED:INTERNAL=1
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/ylee8/FastSLAM/cmake
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=7
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+CMAKE_CXX_COMPILER_WORKS:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
+CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
+CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO
+CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//Result of TRY_COMPILE
+CMAKE_DETERMINE_CXX_ABI_COMPILED:INTERNAL=TRUE
+//Path to cache edit program executable.
+CMAKE_EDIT_COMMAND:INTERNAL=/usr/bin/ccmake
+//Executable file format
+CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
+CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG
+CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE
+CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS
+CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1
+//Name of generator.
+CMAKE_GENERATOR:INTERNAL=Unix Makefiles
+//Start directory with the top level CMakeLists.txt file for this
+// project
+CMAKE_HOME_DIRECTORY:INTERNAL=/home/ylee8/FastSLAM
+//MODIFIED property for variable: CMAKE_INSTALL_PREFIX
+CMAKE_INSTALL_PREFIX-MODIFIED:INTERNAL=ON
+//ADVANCED property for variable: CMAKE_INSTALL_RPATH_USE_LINK_PATH
+CMAKE_INSTALL_RPATH_USE_LINK_PATH-ADVANCED:INTERNAL=1
+//Install .so files without execute permission.
+CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
+//ADVANCED property for variable: CMAKE_LINKER
+CMAKE_LINKER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MAKE_PROGRAM
+CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS
+CMAKE_MODULE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_DEBUG
+CMAKE_MODULE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELEASE
+CMAKE_MODULE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_NM
+CMAKE_NM-ADVANCED:INTERNAL=1
+//number of local generators
+CMAKE_NUMBER_OF_LOCAL_GENERATORS:INTERNAL=5
+//ADVANCED property for variable: CMAKE_OBJCOPY
+CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_OBJDUMP
+CMAKE_OBJDUMP-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_RANLIB
+CMAKE_RANLIB-ADVANCED:INTERNAL=1
+//Path to CMake installation.
+CMAKE_ROOT:INTERNAL=/usr/share/cmake-2.8
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
+CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG
+CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE
+CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_BUILD_RPATH
+CMAKE_SKIP_BUILD_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_RPATH
+CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STRIP
+CMAKE_STRIP-ADVANCED:INTERNAL=1
+//uname command
+CMAKE_UNAME:INTERNAL=/bin/uname
+//ADVANCED property for variable: CMAKE_USE_RELATIVE_PATHS
+CMAKE_USE_RELATIVE_PATHS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE
+CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: EIGEN3_INCLUDE_DIR
+EIGEN3_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//Details about finding Eigen3
+FIND_PACKAGE_MESSAGE_DETAILS_Eigen3:INTERNAL=[/usr/include/eigen3][TRUE][v(2.91.0)]
+//ADVANCED property for variable: GOOGLE_PERFTOOLS_INCLUDE_DIR
+GOOGLE_PERFTOOLS_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PROFILER_LIBRARY
+PROFILER_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: STACKTRACE_LIBRARY
+STACKTRACE_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: TCMALLOC_LIBRARY
+TCMALLOC_LIBRARY-ADVANCED:INTERNAL=1
+

cmake/CMakeFiles/CMakeCXXCompiler.cmake

@@ -0,0 +1,50 @@
+SET(CMAKE_CXX_COMPILER "/usr/bin/c++")
+SET(CMAKE_CXX_COMPILER_ARG1 "")
+SET(CMAKE_CXX_COMPILER_ID "GNU")
+SET(CMAKE_CXX_PLATFORM_ID "Linux")
+
+SET(CMAKE_AR "/usr/bin/ar")
+SET(CMAKE_RANLIB "/usr/bin/ranlib")
+SET(CMAKE_LINKER "/usr/bin/ld")
+SET(CMAKE_COMPILER_IS_GNUCXX 1)
+SET(CMAKE_CXX_COMPILER_LOADED 1)
+SET(CMAKE_COMPILER_IS_MINGW )
+SET(CMAKE_COMPILER_IS_CYGWIN )
+IF(CMAKE_COMPILER_IS_CYGWIN)
+  SET(CYGWIN 1)
+  SET(UNIX 1)
+ENDIF(CMAKE_COMPILER_IS_CYGWIN)
+
+SET(CMAKE_CXX_COMPILER_ENV_VAR "CXX")
+
+IF(CMAKE_COMPILER_IS_MINGW)
+  SET(MINGW 1)
+ENDIF(CMAKE_COMPILER_IS_MINGW)
+SET(CMAKE_CXX_COMPILER_ID_RUN 1)
+SET(CMAKE_CXX_IGNORE_EXTENSIONS inl;h;hpp;HPP;H;o;O;obj;OBJ;def;DEF;rc;RC)
+SET(CMAKE_CXX_SOURCE_FILE_EXTENSIONS C;M;c++;cc;cpp;cxx;m;mm;CPP)
+SET(CMAKE_CXX_LINKER_PREFERENCE 30)
+SET(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1)
+
+# Save compiler ABI information.
+SET(CMAKE_CXX_SIZEOF_DATA_PTR "4")
+SET(CMAKE_CXX_COMPILER_ABI "ELF")
+SET(CMAKE_CXX_LIBRARY_ARCHITECTURE "i386-linux-gnu")
+
+IF(CMAKE_CXX_SIZEOF_DATA_PTR)
+  SET(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}")
+ENDIF(CMAKE_CXX_SIZEOF_DATA_PTR)
+
+IF(CMAKE_CXX_COMPILER_ABI)
+  SET(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_CXX_COMPILER_ABI}")
+ENDIF(CMAKE_CXX_COMPILER_ABI)
+
+IF(CMAKE_CXX_LIBRARY_ARCHITECTURE)
+  SET(CMAKE_LIBRARY_ARCHITECTURE "i386-linux-gnu")
+ENDIF()
+
+SET(CMAKE_CXX_HAS_ISYSROOT "")
+
+
+SET(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;c")
+SET(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/i686-linux-gnu/4.6;/usr/lib/i386-linux-gnu;/usr/lib;/lib/i386-linux-gnu;/lib")