add eigen.

xrobot-org · Feb 14, 2024 · 0702998 · 0702998
1 parent 79708fc
commit 0702998
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Showing 5 changed files with 13 additions and 3 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -61,3 +61,6 @@
 [submodule "hw/mcu/st/cmsis_device_g0"]
 	path = hw/mcu/st/cmsis_device_g0
 	url = https://github.com/STMicroelectronics/cmsis_device_g0.git
+[submodule "lib/eigen"]
+	path = lib/eigen
+	url = https://gitlab.com/libeigen/eigen.git
diff --git a/.gitmodules_cn b/.gitmodules_cn
@@ -61,3 +61,6 @@
 [submodule "hw/mcu/st/cmsis_device_g0"]
 	path = hw/mcu/st/cmsis_device_g0
 	url = https://gitee.com/x-robot/cmsis_device_g0.git
+[submodule "lib/eigen"]
+	path = lib/eigen
+	url = https://gitee.com/x-robot/eigen.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -50,13 +50,13 @@ elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
   set(CMAKE_C_FLAGS_RELEASE "-O3")
   set(CMAKE_ASM_FLAGS_RELEASE "-O3")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "")
-  add_compile_definitions()
+  add_compile_definitions(EIGEN_NO_DEBUG=1)
 
 elseif(CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
   set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
   set(CMAKE_ASM_FLAGS_MINSIZEREL "-Os")
   set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "")
-  add_compile_definitions()
+  add_compile_definitions(EIGEN_NO_DEBUG=1)
 else()
   message(FATAL_ERROR "Unknown build type.")
 endif()

diff --git a/lib/eigen b/lib/eigen
diff --git a/src/component/CMakeLists.txt b/src/component/CMakeLists.txt
@@ -22,6 +22,9 @@ target_include_directories(
 target_include_directories(
     ${PROJECT_NAME} SYSTEM
     PUBLIC ${${PROJECT_NAME}_INCLUDES}
-    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC ${LIB_DIR}/eigen/Eigen)
+
+add_compile_definitions(EIGEN_NO_MALLOC)
 
 add_dependencies(${PROJECT_NAME} OneMessage system)