Use precompiled headers

Gold856 · Jan 8, 2025 · 75ccf54 · 75ccf54
1 parent 995bc98
commit 75ccf54
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Showing 3 changed files with 37 additions and 0 deletions.
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
@@ -171,6 +171,13 @@ if(NOT USE_SYSTEM_EIGEN)
         PUBLIC
             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
     )
+    file(
+        GLOB eigen_hdrs
+        LIST_DIRECTORIES false
+        src/main/native/thirdparty/eigen/include/Eigen/*
+        src/main/native/include/frc/geometry/*
+    )
+    target_precompile_headers(wpimath PRIVATE ${eigen_hdrs} <chrono>)
 else()
     find_package(Eigen3 CONFIG REQUIRED)
     target_link_libraries(wpimath Eigen3::Eigen)

diff --git a/wpimath/build.gradle b/wpimath/build.gradle
@@ -56,6 +56,12 @@ model {
     components {
         all {
             it.sources.each {
+                preCompiledHeader "pch.h"
+                if (it.targetPlatform.operatingSystem.isWindows()) {
+                    it.cppCompiler.args.add("/FI pch.h")
+                } else {
+                    it.cppCompiler.args.add("-include pch.h")
+                }
                 it.exportedHeaders {
                     srcDirs 'src/main/native/include',
                             'src/main/native/thirdparty/eigen/include',

diff --git a/wpimath/src/main/native/include/pch.h b/wpimath/src/main/native/include/pch.h
@@ -0,0 +1,24 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+#include <frc/geometry/CoordinateAxis.h>
+#include <frc/geometry/CoordinateSystem.h>
+#include <frc/geometry/Ellipse2d.h>
+#include <frc/geometry/Pose2d.h>
+#include <frc/geometry/Pose3d.h>
+#include <frc/geometry/Quaternion.h>
+#include <frc/geometry/Rectangle2d.h>
+#include <frc/geometry/Rotation2d.h>
+#include <frc/geometry/Rotation3d.h>
+#include <frc/geometry/Transform2d.h>
+#include <frc/geometry/Transform3d.h>
+#include <frc/geometry/Translation2d.h>
+#include <frc/geometry/Translation3d.h>
+#include <frc/geometry/Twist2d.h>
+#include <frc/geometry/Twist3d.h>
+#include <frc/estimator/SwerveDrivePoseEstimator.h>
+#include <frc/estimator/SwerveDrivePoseEstimator3d.h>
+#include <frc/kinematics/SwerveDrivePoseEstimator3d.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/kinematics/SwerveDriveOdometry.h>
+#include <frc/kinematics/SwerveDriveOdometry3d.h>