Allan 方差计算，无需ROS环境

cmake_minimum_required(VERSION 3.0.2) project(allan_variance) set(CMAKE_CXX_STANDARD 11) find_package(yaml-cpp REQUIRED) find_package(OpenMP) if (OPENMP_FOUND) message(STATUS "OpenMP found will try to link!") set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}") endif() # Enable compile optimizations set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") # Enable debug flags (use if you want to debug in gdb) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-frame-pointer") find_package(Eigen3 REQUIRED) include_directories( include ${EIGEN3_INCLUDE_DIRS} ) add_executable(allan_variance src/allan_variance.cpp src/yaml_parsers.cpp src/AllanVarianceComputor.cpp) target_link_libraries(allan_variance ${YAML_CPP_LIBRARIES} boost_system boost_filesystem)