Libepos is a project mainly written in C, it's free.
temporary repository for existing ETHZ-ASL EPOS library
BUILDING WITH CMAKE
CMake must be run to generate a build system for this project. The build system may be placed either in the project source tree (an in-source build) or in a separate binary tree (an out-of- source build). We strongly encourage use of out-of-source builds because they make it easy to have multiple builds with different configurations sharing the same source tree. Once a single in- source build has been created it is the only build tree that can be associated with that source tree. A source tree may not be used both for an in-source build and an out-of-source build, but any number of out-of-source builds may share a source tree that does not have an in-source build. Having multiple out-of-source builds is particularly useful for installing this project on mul- tiple architectures using a single source tree on a shared disk.
CMake provides both a command-line tool and interactive inter- faces. Advanced users may wish to use the command-line tool but here we document the CMake interactive interface for each plat- form:
CMake should be run from the command line on these platforms. The current working directory should be set to the desired binary tree location in which the build system should be generated. One command-line argument is used to specify the location of the source tree. CMake will usually choose the system C and C++ com- pilers automatically but it can be told to use specific compilers through the "CC" and "CXX" environment variables.
A typical in-source build for this project might look like this:
$ ls -d PROJECT_DIR PROJECT_DIR/ $ cd PROJECT_DIR $ ccmake . $ make
A typical out-of-source build for this project might look like this:
$ ls -d PROJECT_DIR PROJECT_DIR/ $ cd PROJECT_DIR $ mkdir build $ cd build $ ccmake ../ $ make
In the above example, the call to ccmake may be replaced by
$ CC=/your/c/compiler CXX=/your/C++/compiler ccmake ../
in order to tell CMake to use specific C and C++ compilers. Set- ting the environment in this way will only change the compilers the first time CMake is run for a specific build tree. Do not at- tempt to change the compiler of an existing build tree. Instead one should create a separate build tree for each desired compil- er.
The ccmake tool is a curses-based dialog that may be used to in- teractively configure this project. When it appears press 'c' on the keyboard to run the initial configuration of the build sys- tem. Eventually a set of configuration options will appear. These may be edited using the arrow-keys and the ENTER key for naviga- tion. See below for details on the meaning of each of these op- tions.
Once the options have been set as desired press 'c' again to re- configure. New options may appear when earlier options are ad- justed. Keep adjusting options and pressing 'c' until the desired configuration is reached. Finally press 'g' to actually generate the build system. Now that the build system has been generated just run make to build the project.
NOTE: The ccmake curses dialog is the most commonly used interac- tive interface for CMake on UNIX-like platforms, so these in- structions assume it is available. Some system administrators may not have installed curses in which case ccmake will not be available. On these platforms one may use the command "cmake -i" in place of ccmake and follow the on-screen instructions to con- figure the build. A last resort is to use the command-line inter- face to cmake. See the CMake documentation for further details.
Run the CMakeSetup dialog to get started. It must be executed from an environment configured to run the compiler to be used. In the case of the Visual Studio IDE no special environment is need- ed and CMakeSetup can be started from its icon. In the case of a Visual Studio NMake, Borland C++, or MinGW build the CMakeSetup dialog should be executed from a command prompt with the appro- priate environment set.
The dialog prompts for the location of the source and binary trees. There may also be prompt for the build system generator to be used ("Build For:"). Once these are set then CMake is ready for a first pass at configuring the project build system. Use the "Configure" button to initiate this process. If there was no ear- lier prompt for the build system generator a separate dialog will appear during the first configuration step to prompt for genera- tor selection. After a while the dialog will present a set of configuration options. See below for details on the meaning of each of these options. After setting the options as desired press "Configure" again to make another pass at configuring the project. New options may appear when earlier options are adjust- ed. Keep adjusting options and pressing "Configure" until the de- sired configuration is reached. Finally press the "Generate" but- ton to actually generate the build system.
Now that the build system has been generated the corresponding native tools can be used to build this project. In the case of the Visual Studio IDE simply run it and load the workspace or so- lution file from the binary tree specified in the CMakeSetup dia- log. Select and build the ALL_BUILD target. In the case of a Vi- sual Studio NMake, Borland C++, or MinGW build use the corre- sponding make tool (nmake, make, and make, respectively) from the command line.
CONFIGURATION OPTIONS IN CMAKE
Specifies the build type for the project. Possible values are empty, Debug, Release, RelWithDebInfo and MinSizeRel.
When this project is installed all files are placed in a direc- tory structure rooted at the directory specified by CMAKE_IN- STALL_PREFIX.