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use system fmt, spdlog and metis.
1 parent ca54a30 commit 173461f

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Lines changed: 194 additions & 86 deletions

‎CMakeLists.txt‎

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@@ -9,8 +9,9 @@ cmake_minimum_required(VERSION 3.19...4.0)
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project(symforce)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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# ==============================================================================
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# User-Configurable Options

‎cmake/FindMETIS.cmake‎

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#
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# Copyright (c) 2022 Sergiu Deitsch
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTMETISLAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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#
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#[=======================================================================[.rst:
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Module for locating METIS
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=========================
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Read-only variables:
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``METIS_FOUND``
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Indicates whether the library has been found.
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``METIS_VERSION``
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Indicates library version.
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Targets
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-------
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``METIS::METIS``
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Specifies targets that should be passed to target_link_libararies.
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]=======================================================================]
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include (FindPackageHandleStandardArgs)
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find_path (METIS_INCLUDE_DIR NAMES metis.h
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PATH_SUFFIXES include
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DOC "METIS include directory")
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find_library (METIS_LIBRARY_DEBUG NAMES metis
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PATH_SUFFIXES Debug
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DOC "METIS debug library")
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find_library (METIS_LIBRARY_RELEASE NAMES metis
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PATH_SUFFIXES Release
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DOC "METIS release library")
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if (METIS_LIBRARY_RELEASE)
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if (METIS_LIBRARY_DEBUG)
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set (METIS_LIBRARY debug ${METIS_LIBRARY_DEBUG} optimized
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${METIS_LIBRARY_RELEASE} CACHE STRING "METIS library")
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else (METIS_LIBRARY_DEBUG)
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set (METIS_LIBRARY ${METIS_LIBRARY_RELEASE} CACHE FILEPATH "METIS library")
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endif (METIS_LIBRARY_DEBUG)
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elseif (METIS_LIBRARY_DEBUG)
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set (METIS_LIBRARY ${METIS_LIBRARY_DEBUG} CACHE FILEPATH "METIS library")
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endif (METIS_LIBRARY_RELEASE)
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set (_METIS_VERSION_HEADER ${METIS_INCLUDE_DIR}/metis.h)
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if (EXISTS ${_METIS_VERSION_HEADER})
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file (READ ${_METIS_VERSION_HEADER} _METIS_VERSION_CONTENTS)
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string (REGEX REPLACE ".*#define METIS_VER_MAJOR[ \t]+([0-9]+).*" "\\1"
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METIS_VERSION_MAJOR "${_METIS_VERSION_CONTENTS}")
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string (REGEX REPLACE ".*#define METIS_VER_MINOR[ \t]+([0-9]+).*" "\\1"
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METIS_VERSION_MINOR "${_METIS_VERSION_CONTENTS}")
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string (REGEX REPLACE ".*#define METIS_VER_SUBMINOR[ \t]+([0-9]+).*" "\\1"
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METIS_VERSION_PATCH "${_METIS_VERSION_CONTENTS}")
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set (METIS_VERSION
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${METIS_VERSION_MAJOR}.${METIS_VERSION_MINOR}.${METIS_VERSION_PATCH})
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set (METIS_VERSION_COMPONENTS 3)
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endif (EXISTS ${_METIS_VERSION_HEADER})
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mark_as_advanced (METIS_INCLUDE_DIR METIS_LIBRARY_DEBUG METIS_LIBRARY_RELEASE
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METIS_LIBRARY)
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if (NOT TARGET METIS::METIS)
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if (METIS_INCLUDE_DIR OR METIS_LIBRARY)
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add_library (METIS::METIS IMPORTED UNKNOWN)
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endif (METIS_INCLUDE_DIR OR METIS_LIBRARY)
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endif (NOT TARGET METIS::METIS)
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if (METIS_INCLUDE_DIR)
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set_property (TARGET METIS::METIS PROPERTY INTERFACE_INCLUDE_DIRECTORIES
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${METIS_INCLUDE_DIR})
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endif (METIS_INCLUDE_DIR)
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if (METIS_LIBRARY_RELEASE)
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set_property (TARGET METIS::METIS PROPERTY IMPORTED_LOCATION_RELEASE
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${METIS_LIBRARY_RELEASE})
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set_property (TARGET METIS::METIS APPEND PROPERTY IMPORTED_CONFIGURATIONS
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RELEASE)
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endif (METIS_LIBRARY_RELEASE)
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if (METIS_LIBRARY_DEBUG)
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set_property (TARGET METIS::METIS PROPERTY IMPORTED_LOCATION_DEBUG
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${METIS_LIBRARY_DEBUG})
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set_property (TARGET METIS::METIS APPEND PROPERTY IMPORTED_CONFIGURATIONS
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DEBUG)
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endif (METIS_LIBRARY_DEBUG)
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find_package_handle_standard_args (METIS REQUIRED_VARS
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METIS_INCLUDE_DIR METIS_LIBRARY VERSION_VAR METIS_VERSION)

‎symforce/opt/CMakeLists.txt‎

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include(FetchContent)
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# ------------------------------------------------------------------------------
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# fmtlib
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find_package(fmt 8...<9 QUIET)
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if (NOT fmt_FOUND)
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message(STATUS "fmt not found, adding with FetchContent")
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function(add_fmt)
19-
set(FMT_INSTALL ON CACHE INTERNAL "fmt should create an install target")
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FetchContent_Declare(
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fmtlib
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URL https://github.com/fmtlib/fmt/archive/8.0.1.zip
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URL_HASH SHA256=6747442c189064b857336007dd7fa3aaf58512aa1a0b2ba76bf1182eefb01025
24-
)
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set(CMAKE_POSITION_INDEPENDENT_CODE True)
26-
FetchContent_MakeAvailable(fmtlib)
27-
endfunction()
28-
29-
add_fmt()
30-
else()
31-
message(STATUS "fmt found: ${fmt_VERSION}")
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endif()
33-
34-
# ------------------------------------------------------------------------------
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# spdlog
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find_package(spdlog 1.9...<1.11 QUIET)
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if (NOT spdlog_FOUND)
39-
message(STATUS "spdlog not found, adding with FetchContent")
40-
function(add_spdlog)
41-
set(SPDLOG_INSTALL ON CACHE INTERNAL "spdlog should create an install target")
42-
set(SPDLOG_FMT_EXTERNAL ON CACHE INTERNAL "spdlog shouldn't use its bundled fmtlib")
43-
set(CMAKE_POSITION_INDEPENDENT_CODE True)
44-
FetchContent_Declare(
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spdlog
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URL https://github.com/gabime/spdlog/archive/v1.9.2.zip
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URL_HASH SHA256=130bd593c33e2e2abba095b551db6a05f5e4a5a19c03ab31256c38fa218aa0a6
48-
)
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FetchContent_MakeAvailable(spdlog)
50-
endfunction()
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add_spdlog()
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else()
54-
message(STATUS "spdlog found: ${spdlog_VERSION}")
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endif()
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57-
# ------------------------------------------------------------------------------
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# METIS
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60-
function(add_metis)
61-
set(CMAKE_POSITION_INDEPENDENT_CODE True)
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# CMake 4.0 removed compatibility with CMake 3.5: https://cmake.org/cmake/help/v4.0/release/4.0.html#deprecated-and-removed-features
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# See the note below on METIS versioning; newest GKlib at https://github.com/KarypisLab/GKlib does
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# support newer CMake, but we'd need to make sure the memory bugs mentioned below are resolved to
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# upgrade. The current copy of GKlib only declares it supports CMake 2.8.
66-
set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
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FetchContent_Declare(
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metis
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# METIS does not have releases recently. Previously were using nearly the initial commit on
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# github, which is newer than the release on the METIS website. All of the releases on github
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# seem to have memory bugs, which do not appear in this release:
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URL https://symforce-org.github.io/downloads/metis-5.1.0.tar.gz
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URL_HASH SHA256=76faebe03f6c963127dbb73c13eab58c9a3faeae48779f049066a21c087c5db2
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# GKlib builds some test executables we can't disable without patching
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PATCH_COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/patch_metis.sh" "${FETCHCONTENT_BASE_DIR}/metis-src"
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)
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# Tell metis where to find GKlib
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set(GKLIB_PATH
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"${FETCHCONTENT_BASE_DIR}/metis-src/GKlib" CACHE PATH "Path to GKlib for METIS" FORCE
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)
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set(METIS_LIBRARY_TYPE "SHARED" CACHE STRING "Always build METIS as a shared library" FORCE)
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FetchContent_MakeAvailable(metis)
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# Metis doesn't put its main header (metis.h) on the metis target
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FetchContent_GetProperties(metis SOURCE_DIR metis_SOURCE_DIR)
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target_include_directories(metis INTERFACE ${metis_SOURCE_DIR}/include)
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endfunction()
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add_metis()
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find_package(fmt REQUIRED)
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find_package(spdlog REQUIRED)
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find_package(metis REQUIRED)
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# ==============================================================================
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# SymForce Targets
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target_compile_options(symforce_cholesky PRIVATE ${SYMFORCE_COMPILE_OPTIONS})
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target_link_libraries(symforce_cholesky
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fmt::fmt
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metis
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METIS::METIS
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${SYMFORCE_EIGEN_TARGET}
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)
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target_include_directories(symforce_cholesky PUBLIC ../..)

‎symforce/opt/assert.h‎

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#include <fmt/format.h>
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#include "./fmt_compat.h"
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namespace sym {
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/**

‎symforce/opt/dense_linearizer.cc‎

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#include <tuple>
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#include "./fmt_compat.h"
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#include "./internal/linearizer_utils.h"
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namespace sym {

‎symforce/opt/dump_graph.h‎

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#include <fmt/format.h>
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#include "./factor.h"
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#include "./fmt_compat.h"
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#include "./key.h"
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namespace sym {

‎symforce/opt/factor.cc‎

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#include <fmt/ranges.h>
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#include "./assert.h"
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#include "./fmt_compat.h"
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#include "./internal/factor_utils.h"
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namespace sym {

‎symforce/opt/fmt_compat.h‎

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/* ----------------------------------------------------------------------------
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* fmt 11.x compatibility header for symforce
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*
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* fmt >= 11 no longer auto-discovers operator<< for formatting. This header
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* restores that behaviour for every class type that provides operator<< but
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* is not already handled by fmt (strings, arithmetic, …).
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*
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* Two C++20 concepts do all the work:
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*
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* 1. EigenDerived – disables fmt/ranges.h's range formatter for Eigen
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* expression types (Eigen 3.4+ exposes begin()/end()).
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*
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* 2. The formatter partial specialization – a single, universal catch-all
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* that delegates to fmt::ostream_formatter for any remaining class type
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* with operator<<.
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* ---------------------------------------------------------------------------- */
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#pragma once
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#include <concepts>
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#include <ostream>
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#include <type_traits>
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24+
#include <Eigen/Core>
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#include <Eigen/SparseCore>
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#include <fmt/ostream.h>
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#include <fmt/ranges.h>
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// ---------------------------------------------------------------------------
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// 1. Disable fmt's range formatter for Eigen types.
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//
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// Eigen 3.4+ types expose begin()/end() which makes fmt/ranges.h treat
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// them as iterable ranges. We want the human-readable matrix output from
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// operator<< instead, so we mark them as range_format::disabled.
35+
// ---------------------------------------------------------------------------
36+
template <typename T>
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concept EigenDerived = requires(const T& t) { t.derived(); };
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template <EigenDerived T>
40+
struct fmt::range_format_kind<T, char>
41+
: std::integral_constant<fmt::range_format, fmt::range_format::disabled> {};
42+
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// ---------------------------------------------------------------------------
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// 2. Universal ostream-based formatter for class types with operator<<.
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//
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// Guards:
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// • std::is_class_v – excludes arithmetic, pointers, enums
48+
// that fmt already handles natively.
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// • !convertible to string_view – excludes std::string / string_view
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// which have their own fmt formatter.
51+
// • requires { os << t; } – the type must actually support operator<<.
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// ---------------------------------------------------------------------------
53+
template <typename T>
54+
requires std::is_class_v<T>
55+
&& (!std::is_convertible_v<const T&, fmt::string_view>)
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&& requires(std::ostream& os, const T& t) { os << t; }
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struct fmt::formatter<T, char> : fmt::ostream_formatter {};

‎symforce/opt/internal/derivative_checker.h‎

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#include <spdlog/spdlog.h>
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8+
#include "../fmt_compat.h"
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810
#include "../util.h"
911
#include "../values.h"
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‎symforce/opt/internal/linearizer_utils.h‎

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#include <fmt/ranges.h>
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#include <spdlog/spdlog.h>
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16+
#include "../fmt_compat.h"
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#include <lcmtypes/sym/linearization_dense_factor_helper_t.hpp>
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#include <lcmtypes/sym/linearization_sparse_factor_helper_t.hpp>
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