mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergiu Deitsch
4bc100c13d
In the case, necessary properties of import targets cannot be set (i.e., either because the include directory or the library was found), do not define import target to begin with. Change-Id: Id216cd692a8ec240a20f65b174f196ddaa306c2b
461 lines
18 KiB
CMake
461 lines
18 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2022 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: alexs.mac@gmail.com (Alex Stewart)
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#
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#[=======================================================================[.rst:
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FindSuiteSparse
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===============
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Module for locating SuiteSparse libraries and its dependencies.
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This module defines the following variables:
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``SuiteSparse_FOUND``
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``TRUE`` iff SuiteSparse and all dependencies have been found.
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``SuiteSparse_VERSION``
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Extracted from ``SuiteSparse_config.h`` (>= v4).
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``SuiteSparse_VERSION_MAJOR``
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Equal to 4 if ``SuiteSparse_VERSION`` = 4.2.1
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``SuiteSparse_VERSION_MINOR``
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Equal to 2 if ``SuiteSparse_VERSION`` = 4.2.1
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``SuiteSparse_VERSION_PATCH``
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Equal to 1 if ``SuiteSparse_VERSION`` = 4.2.1
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The following variables control the behaviour of this module:
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``SuiteSparse_NO_CMAKE``
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Do not attempt to use the native SuiteSparse CMake package configuration.
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Targets
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-------
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The following targets define the SuiteSparse components searched for.
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``SuiteSparse::AMD``
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Symmetric Approximate Minimum Degree (AMD)
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``SuiteSparse::CAMD``
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Constrained Approximate Minimum Degree (CAMD)
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``SuiteSparse::COLAMD``
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Column Approximate Minimum Degree (COLAMD)
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``SuiteSparse::CCOLAMD``
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Constrained Column Approximate Minimum Degree (CCOLAMD)
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``SuiteSparse::CHOLMOD``
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Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
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``SuiteSparse::SPQR``
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Multifrontal Sparse QR (SuiteSparseQR)
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``SuiteSparse::Config``
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Common configuration for all but CSparse (SuiteSparse version >= 4).
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Optional SuiteSparse dependencies:
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``METIS::METIS``
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Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
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]=======================================================================]
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if (NOT SuiteSparse_NO_CMAKE)
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find_package (SuiteSparse NO_MODULE QUIET)
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endif (NOT SuiteSparse_NO_CMAKE)
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if (SuiteSparse_FOUND)
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return ()
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endif (SuiteSparse_FOUND)
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if (NOT SuiteSparse_FIND_COMPONENTS)
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set (SuiteSparse_FIND_COMPONENTS
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AMD
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CAMD
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CCOLAMD
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CHOLMOD
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COLAMD
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SPQR
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)
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endif (NOT SuiteSparse_FIND_COMPONENTS)
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include (CheckLibraryExists)
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# CHOLMOD depends on AMD, CAMD, CCOLAMD, and COLAMD
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if (CHOLMOD IN_LIST SuiteSparse_FIND_COMPONENTS)
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list (APPEND SuiteSparse_FIND_COMPONENTS AMD CAMD CCOLAMD COLAMD)
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endif (CHOLMOD IN_LIST SuiteSparse_FIND_COMPONENTS)
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# SPQR depends on CHOLMOD
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if (SPQR IN_LIST SuiteSparse_FIND_COMPONENTS)
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list (APPEND SuiteSparse_FIND_COMPONENTS CHOLMOD)
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endif (SPQR IN_LIST SuiteSparse_FIND_COMPONENTS)
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# Do note list components multiple times
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list (REMOVE_DUPLICATES SuiteSparse_FIND_COMPONENTS)
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# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
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# FindSuiteSparse was invoked.
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macro(SuiteSparse_RESET_FIND_LIBRARY_PREFIX)
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if (MSVC)
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set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
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endif (MSVC)
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endmacro(SuiteSparse_RESET_FIND_LIBRARY_PREFIX)
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# Called if we failed to find SuiteSparse or any of it's required dependencies,
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# unsets all public (designed to be used externally) variables and reports
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# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
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macro(SuiteSparse_REPORT_NOT_FOUND REASON_MSG)
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# Do NOT unset SuiteSparse_FOUND_REQUIRED_VARS here, as it is used by
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# FindPackageHandleStandardArgs() to generate the automatic error message on
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# failure which highlights which components are missing.
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suitesparse_reset_find_library_prefix()
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# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
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# use the camelcase library name, not uppercase.
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if (SuiteSparse_FIND_QUIETLY)
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message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
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elseif (SuiteSparse_FIND_REQUIRED)
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message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
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else()
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# Neither QUIETLY nor REQUIRED, use no priority which emits a message
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# but continues configuration and allows generation.
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message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
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endif (SuiteSparse_FIND_QUIETLY)
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# Do not call return(), s/t we keep processing if not called with REQUIRED
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# and report all missing components, rather than bailing after failing to find
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# the first.
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endmacro(SuiteSparse_REPORT_NOT_FOUND)
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# Handle possible presence of lib prefix for libraries on MSVC, see
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# also SuiteSparse_RESET_FIND_LIBRARY_PREFIX().
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if (MSVC)
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# Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
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# s/t we can set it back before returning.
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set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
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# The empty string in this list is important, it represents the case when
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# the libraries have no prefix (shared libraries / DLLs).
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set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
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endif (MSVC)
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# Additional suffixes to try appending to each search path.
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list(APPEND SuiteSparse_CHECK_PATH_SUFFIXES
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suitesparse) # Windows/Ubuntu
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# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
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#
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# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
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# [LIBRARIES name1 [name2 ...]]
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# [REQUIRED])
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macro(suitesparse_find_component COMPONENT)
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include(CMakeParseArguments)
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set(OPTIONS REQUIRED)
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set(MULTI_VALUE_ARGS FILES LIBRARIES)
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cmake_parse_arguments(SuiteSparse_FIND_${COMPONENT}
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"${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
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if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
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list(APPEND SuiteSparse_FOUND_REQUIRED_VARS SuiteSparse_${COMPONENT}_FOUND)
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endif()
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set(SuiteSparse_${COMPONENT}_FOUND TRUE)
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if (SuiteSparse_FIND_${COMPONENT}_FILES)
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find_path(SuiteSparse_${COMPONENT}_INCLUDE_DIR
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NAMES ${SuiteSparse_FIND_${COMPONENT}_FILES}
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PATH_SUFFIXES ${SuiteSparse_CHECK_PATH_SUFFIXES})
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if (SuiteSparse_${COMPONENT}_INCLUDE_DIR)
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message(STATUS "Found ${COMPONENT} headers in: "
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"${SuiteSparse_${COMPONENT}_INCLUDE_DIR}")
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mark_as_advanced(SuiteSparse_${COMPONENT}_INCLUDE_DIR)
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else()
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# Specified headers not found.
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set(SuiteSparse_${COMPONENT}_FOUND FALSE)
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if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
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suitesparse_report_not_found(
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"Did not find ${COMPONENT} header (required SuiteSparse component).")
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else()
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message(STATUS "Did not find ${COMPONENT} header (optional "
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"SuiteSparse component).")
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# Hide optional vars from CMake GUI even if not found.
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mark_as_advanced(SuiteSparse_${COMPONENT}_INCLUDE_DIR)
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endif()
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endif()
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endif()
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if (SuiteSparse_FIND_${COMPONENT}_LIBRARIES)
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find_library(SuiteSparse_${COMPONENT}_LIBRARY
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NAMES ${SuiteSparse_FIND_${COMPONENT}_LIBRARIES}
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PATH_SUFFIXES ${SuiteSparse_CHECK_PATH_SUFFIXES})
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if (SuiteSparse_${COMPONENT}_LIBRARY)
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message(STATUS "Found ${COMPONENT} library: ${SuiteSparse_${COMPONENT}_LIBRARY}")
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mark_as_advanced(SuiteSparse_${COMPONENT}_LIBRARY)
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else ()
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# Specified libraries not found.
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set(SuiteSparse_${COMPONENT}_FOUND FALSE)
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if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
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suitesparse_report_not_found(
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"Did not find ${COMPONENT} library (required SuiteSparse component).")
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else()
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message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
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"dependency)")
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# Hide optional vars from CMake GUI even if not found.
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mark_as_advanced(SuiteSparse_${COMPONENT}_LIBRARY)
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endif()
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endif()
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endif()
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# Define the target only if the include directory and the library were found
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if (SuiteSparse_${COMPONENT}_INCLUDE_DIR AND SuiteSparse_${COMPONENT}_LIBRARY)
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if (NOT TARGET SuiteSparse::${COMPONENT})
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add_library(SuiteSparse::${COMPONENT} IMPORTED UNKNOWN)
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endif (NOT TARGET SuiteSparse::${COMPONENT})
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set_property(TARGET SuiteSparse::${COMPONENT} PROPERTY
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INTERFACE_INCLUDE_DIRECTORIES ${SuiteSparse_${COMPONENT}_INCLUDE_DIR})
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set_property(TARGET SuiteSparse::${COMPONENT} PROPERTY
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IMPORTED_LOCATION ${SuiteSparse_${COMPONENT}_LIBRARY})
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endif (SuiteSparse_${COMPONENT}_INCLUDE_DIR AND SuiteSparse_${COMPONENT}_LIBRARY)
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endmacro()
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# Given the number of components of SuiteSparse, and to ensure that the
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# automatic failure message generated by FindPackageHandleStandardArgs()
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# when not all required components are found is helpful, we maintain a list
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# of all variables that must be defined for SuiteSparse to be considered found.
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unset(SuiteSparse_FOUND_REQUIRED_VARS)
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# BLAS.
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find_package(BLAS QUIET)
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if (NOT BLAS_FOUND)
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suitesparse_report_not_found(
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"Did not find BLAS library (required for SuiteSparse).")
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endif (NOT BLAS_FOUND)
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list(APPEND SuiteSparse_FOUND_REQUIRED_VARS BLAS_FOUND)
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# LAPACK.
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find_package(LAPACK QUIET)
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if (NOT LAPACK_FOUND)
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suitesparse_report_not_found(
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"Did not find LAPACK library (required for SuiteSparse).")
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endif (NOT LAPACK_FOUND)
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list(APPEND SuiteSparse_FOUND_REQUIRED_VARS LAPACK_FOUND)
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foreach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
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string (TOLOWER ${component} component_lower)
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if (component STREQUAL "SPQR")
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set (component_header SuiteSparseQR.hpp)
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else (component STREQUAL "SPQR")
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set (component_header ${component_lower}.h)
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endif (component STREQUAL "SPQR")
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suitesparse_find_component(${component} REQUIRED FILES ${component_header}
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LIBRARIES ${component_lower})
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endforeach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
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if (TARGET SuiteSparse::SPQR)
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# SuiteSparseQR may be compiled with Intel Threading Building Blocks,
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# we assume that if TBB is installed, SuiteSparseQR was compiled with
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# support for it, this will do no harm if it wasn't.
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find_package(TBB QUIET)
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if (TBB_FOUND)
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message(STATUS "Found Intel Thread Building Blocks (TBB) library "
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"(${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} / ${TBB_INTERFACE_VERSION}) "
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"include location: ${TBB_INCLUDE_DIRS}. Assuming SuiteSparseQR was "
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"compiled with TBB.")
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# Add the TBB libraries to the SuiteSparseQR libraries (the only
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# libraries to optionally depend on TBB).
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if (TARGET TBB::tbb)
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# Native TBB package configuration provides an imported target. Use it if
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# available.
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set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES TBB::tbb)
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else (TARGET TBB::tbb)
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set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
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INTERFACE_INCLUDE_DIRECTORIES ${TBB_INCLUDE_DIRS})
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set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES ${TBB_LIBRARIES})
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endif (TARGET TBB::tbb)
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else (TBB_FOUND)
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message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
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"not compiled with TBB.")
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endif (TBB_FOUND)
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endif (TARGET SuiteSparse::SPQR)
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# SuiteSparse_config.
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#
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# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
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suitesparse_find_component(
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Config FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
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check_library_exists(rt shm_open "" HAVE_LIBRT)
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if (TARGET SuiteSparse::Config)
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# SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
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# timing by default when compiled on Linux or Unix, but not on OSX (which
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# does not have librt).
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if (HAVE_LIBRT)
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message(STATUS "Adding librt to "
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"SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
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"SuiteSparse is compiled with timing).")
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set_property (TARGET SuiteSparse::Config APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES $<LINK_ONLY:rt>)
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else (HAVE_LIBRT)
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message(STATUS "Could not find librt, but found SuiteSparse_config, "
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"assuming that SuiteSparse was compiled without timing.")
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endif (HAVE_LIBRT)
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# Add BLAS and LAPACK as dependencies of SuiteSparse::Config for convenience
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# given that all components depend on it.
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if (BLAS_FOUND)
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if (TARGET BLAS::BLAS)
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set_property (TARGET SuiteSparse::Config APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES $<LINK_ONLY:BLAS::BLAS>)
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else (TARGET BLAS::BLAS)
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set_property (TARGET SuiteSparse::Config APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES})
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endif (TARGET BLAS::BLAS)
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endif (BLAS_FOUND)
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if (LAPACK_FOUND)
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if (TARGET LAPACK::LAPACK)
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set_property (TARGET SuiteSparse::Config APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES $<LINK_ONLY:LAPACK::LAPACK>)
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else (TARGET LAPACK::LAPACK)
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set_property (TARGET SuiteSparse::Config APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES ${LAPACK_LIBRARIES})
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endif (TARGET LAPACK::LAPACK)
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endif (LAPACK_FOUND)
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# SuiteSparse version >= 4.
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set(SuiteSparse_VERSION_FILE
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${SuiteSparse_Config_INCLUDE_DIR}/SuiteSparse_config.h)
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if (NOT EXISTS ${SuiteSparse_VERSION_FILE})
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suitesparse_report_not_found(
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"Could not find file: ${SuiteSparse_VERSION_FILE} containing version "
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"information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
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"found (only present in >= v4 installs).")
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else (NOT EXISTS ${SuiteSparse_VERSION_FILE})
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file(READ ${SuiteSparse_VERSION_FILE} Config_CONTENTS)
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string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
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SuiteSparse_VERSION_MAJOR "${Config_CONTENTS}")
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string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
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SuiteSparse_VERSION_MAJOR "${SuiteSparse_VERSION_MAJOR}")
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string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
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SuiteSparse_VERSION_MINOR "${Config_CONTENTS}")
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string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
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SuiteSparse_VERSION_MINOR "${SuiteSparse_VERSION_MINOR}")
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string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
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SuiteSparse_VERSION_PATCH "${Config_CONTENTS}")
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string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
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SuiteSparse_VERSION_PATCH "${SuiteSparse_VERSION_PATCH}")
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# This is on a single line s/t CMake does not interpret it as a list of
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# elements and insert ';' separators which would result in 4.;2.;1 nonsense.
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set(SuiteSparse_VERSION
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"${SuiteSparse_VERSION_MAJOR}.${SuiteSparse_VERSION_MINOR}.${SuiteSparse_VERSION_PATCH}")
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set(SuiteSparse_VERSION_COMPONENTS 3)
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endif (NOT EXISTS ${SuiteSparse_VERSION_FILE})
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endif (TARGET SuiteSparse::Config)
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# METIS (Optional dependency).
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find_package (METIS)
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# CHOLMOD requires AMD CAMD CCOLAMD COLAMD
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if (TARGET SuiteSparse::CHOLMOD)
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# METIS is optional
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if (TARGET METIS::METIS)
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set_property (TARGET SuiteSparse::CHOLMOD APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES METIS::METIS)
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endif (TARGET METIS::METIS)
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foreach (component IN ITEMS AMD CAMD CCOLAMD COLAMD)
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if (TARGET SuiteSparse::${component})
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set_property (TARGET SuiteSparse::CHOLMOD APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES SuiteSparse::${component})
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else (TARGET SuiteSparse::${component})
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# Consider CHOLMOD not found if COLAMD cannot be found
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set (SuiteSparse_CHOLMOD_FOUND FALSE)
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endif (TARGET SuiteSparse::${component})
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endforeach (component IN ITEMS AMD CAMD CCOLAMD COLAMD)
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endif (TARGET SuiteSparse::CHOLMOD)
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# SPQR requires CHOLMOD
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if (TARGET SuiteSparse::SPQR)
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if (TARGET SuiteSparse::CHOLMOD)
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set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
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INTERFACE_LINK_LIBRARIES SuiteSparse::CHOLMOD)
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else (TARGET SuiteSparse::CHOLMOD)
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# Consider SPQR not found if CHOLMOD cannot be found
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set (SuiteSparse_SQPR_FOUND FALSE)
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endif (TARGET SuiteSparse::CHOLMOD)
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endif (TARGET SuiteSparse::SPQR)
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# Add SuiteSparse::Config as dependency to all components
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if (TARGET SuiteSparse::Config)
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foreach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
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if (component STREQUAL Config)
|
|
continue ()
|
|
endif (component STREQUAL Config)
|
|
|
|
if (TARGET SuiteSparse::${component})
|
|
set_property (TARGET SuiteSparse::${component} APPEND PROPERTY
|
|
INTERFACE_LINK_LIBRARIES SuiteSparse::Config)
|
|
endif (TARGET SuiteSparse::${component})
|
|
endforeach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
|
|
endif (TARGET SuiteSparse::Config)
|
|
|
|
suitesparse_reset_find_library_prefix()
|
|
|
|
# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
|
|
include(FindPackageHandleStandardArgs)
|
|
if (SuiteSparse_FOUND)
|
|
find_package_handle_standard_args(SuiteSparse
|
|
REQUIRED_VARS ${SuiteSparse_FOUND_REQUIRED_VARS}
|
|
VERSION_VAR SuiteSparse_VERSION
|
|
FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse."
|
|
HANDLE_COMPONENTS)
|
|
else (SuiteSparse_FOUND)
|
|
# Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
|
|
# find SuiteSparse to avoid a confusing autogenerated failure message
|
|
# that states 'not found (missing: FOO) (found version: x.y.z)'.
|
|
find_package_handle_standard_args(SuiteSparse
|
|
REQUIRED_VARS ${SuiteSparse_FOUND_REQUIRED_VARS}
|
|
FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse."
|
|
HANDLE_COMPONENTS)
|
|
endif (SuiteSparse_FOUND)
|