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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(KPAX LANGUAGES CXX CUDA)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CUDA_STANDARD 17)
find_package(CUDA REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Python3 COMPONENTS Development NumPy REQUIRED)
find_package(OpenMP REQUIRED)
include_directories(
include
${EIGEN3_INCLUDE_DIRS}
${BOOST_INCLUDE_DIRS}
${CMAKE_SOURCE_DIR}/src
${CUDA_INCLUDE_DIRS}
${Python3_INCLUDE_DIRS}
${Python3_NumPy_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIR}
)
set(SOURCE_FILES
src/planners/KPAX.cu
src/planners/Planner.cu
src/collisionCheck/collisionCheck.cu
src/graphs/Graph.cu
src/helper/helper.cu
src/statePropagator/statePropagator.cu
)
add_library(KPAX_lib ${SOURCE_FILES})
if (OpenMP_CXX_FOUND)
target_link_libraries(KPAX_lib PUBLIC OpenMP::OpenMP_CXX)
endif()
# -- GPU EXECUTABLES --
add_executable(main examples/gpu/main.cu)
target_link_libraries(main
PUBLIC KPAX_lib
${CUDA_LIBRARIES}
${Boost_LIBRARIES}
${EIGEN3_LIBRARIES}
yaml-cpp
Python3::Python
Python3::NumPy
)
add_executable(benchMain examples/gpu/benchMain.cu)
target_link_libraries(benchMain
PUBLIC KPAX_lib
${CUDA_LIBRARIES}
${Boost_LIBRARIES}
${EIGEN3_LIBRARIES}
yaml-cpp
Python3::Python
Python3::NumPy
)
add_executable(executionTimeMain examples/gpu/executionTimeMain.cu)
target_link_libraries(executionTimeMain
PUBLIC KPAX_lib
${CUDA_LIBRARIES}
${Boost_LIBRARIES}
${EIGEN3_LIBRARIES}
yaml-cpp
Python3::Python
Python3::NumPy
)
set_target_properties(KPAX_lib PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
set_target_properties(main PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
set_target_properties(benchMain PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
set_target_properties(executionTimeMain PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -diag-suppress=20012,20013,20014,20015 --expt-relaxed-constexpr --ptxas-options=-v")
set_property(TARGET main PROPERTY CUDA_ARCHITECTURES 86)
set_property(TARGET benchMain PROPERTY CUDA_ARCHITECTURES 86)
set_property(TARGET KPAX_lib PROPERTY CUDA_ARCHITECTURES 86)
add_definitions(-DEIGEN_NO_DEBUG)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations -Wno-unused-function")
endif()
if(MSVC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4996 /wd4244 /wd4267")
endif()
add_definitions(-D_MWAITXINTRIN_H_INCLUDED)
add_definitions(-D_FORCE_INLINES)