From 1cd93d84e6f047b4a94fb259cca3e92864391a1d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 6 Dec 2021 11:05:01 -0500
Subject: [PATCH] CMake updates

---
 CMakeLists.txt        |  7 +++++++
 matlab/CMakeLists.txt | 15 ++++++++++++++-
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8480867e4..5fd5d521c2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -87,6 +87,13 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
         CACHE STRING "The Python version to use for wrapping")
     # Set the include directory for matlab.h
     set(GTWRAP_INCLUDE_NAME "wrap")
+
+    # Copy matlab.h to the correct folder.
+    configure_file(${PROJECT_SOURCE_DIR}/wrap/matlab.h
+               ${PROJECT_BINARY_DIR}/wrap/matlab.h COPYONLY)
+    # Add the include directories so that matlab.h can be found
+    include_directories("${PROJECT_BINARY_DIR}" "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}")
+
     add_subdirectory(wrap)
     list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
 endif()
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 28e7cce6e4..749ad870ac 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -64,8 +64,21 @@ set(ignore
     gtsam::Point3
     gtsam::CustomFactor)
 
+set(interface_files
+    ${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
+    ${GTSAM_SOURCE_DIR}/gtsam/base/base.i
+    ${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
+    ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
+    ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
+    ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
+    ${GTSAM_SOURCE_DIR}/gtsam/symbolic/symbolic.i
+    ${GTSAM_SOURCE_DIR}/gtsam/sam/sam.i
+    ${GTSAM_SOURCE_DIR}/gtsam/slam/slam.i
+    ${GTSAM_SOURCE_DIR}/gtsam/sfm/sfm.i
+    ${GTSAM_SOURCE_DIR}/gtsam/navigation/navigation.i
+)
 # Wrap
-matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam/gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}"
+matlab_wrap("${interface_files}" "gtsam" "${GTSAM_ADDITIONAL_LIBRARIES}"
             "" "${mexFlags}" "${ignore}")
 
 # Wrap version for gtsam_unstable