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cmake and ci improvements

Nikolaus Demmelrequested to merge
niko_devel into master

Prerequisite for updates to basalt. If tests pass, it should be ready for merge.

Summary of changes:

  • ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as release builds on Xenial and El Capitan. Use templates to simplify .gitlab-ci.yml
  • cmake: raise minimum version to 3.10
  • cmake: add workarounds to support macOS < 10.14
  • cmake: set ccache only if not yet set and print info
  • cmake: add NDEBUG define (to disable asserts) for release build and EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied CMAKE_CXX_FLAGS at the end to allow overriding the defaults.
  • tests: add enable_testing() in main CMakeLists.txt, such that we can call 'ctest' from build folder.
  • tests: simplify gtest / gtest_main linking
  • tests: enabled benchmarks only on Linux with GCC (doesn't compile with clang)
  • tests: use the newer gtest_discover_tests instead of add_test, which adds a separate cmake test for every gtest, even with multiple defined in a single executable. Its not only more reliable and less verbose in the CMakeLists.txt, but also allows to run 'ctest' without -V and still see status for every individual test.

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