<commit_before># Specify the minimum version for CMake
cmake_minimum_required(VERSION 2.8)
set(CMAKE_CXX_STANDARD 11)
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g") # Debugging
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") 
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DEIGEN_NO_DEBUG -march=native -Wl,--no-as-needed") 
# -O3 -DEIGEN_NO_DEBUG sped up large matrix multiplication by a factor of 10
# -march=native further sped up large matrix multiplication by a factor of 2

# Project's name
project(inekf)

# Set the output folder where your program will be created
#set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin)
#set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
#set(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/lib)    <commit_msg>Updated CMakeLists.txt to force g++ compiler (needed to achieve the fast eigen computation).<commit_after># Specify the minimum version for CMake
cmake_minimum_required(VERSION 2.8.3)
# set(CMAKE_CXX_STANDARD 11)
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g") # Debugging
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") 
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -DEIGEN_NO_DEBUG -march=native -Wl,--no-as-needed") 
SET(CMAKE_CXX_COMPILER /usr/bin/g++)
# -O3 -DEIGEN_NO_DEBUG sped up large matrix multiplication by a factor of 10
# -march=native further sped up large matrix multiplication by a factor of 2

# Project's name
project(inekf)

# Set the output folder where your program will be created
#set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin)
#set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
#set(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/lib)    
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