From a1fcaffb41a7bd23310dad09a33731c7bfca3c05 Mon Sep 17 00:00:00 2001
From: Andrea Censi <andrea@cds.caltech.edu>
Date: Mon, 24 May 2010 02:41:22 +0000
Subject: [PATCH]
---
docs/Makefile | 10 +++----
docs/basic/Makefile | 4 +++
docs/basic/myprogram.c | 5 ++++
docs/embedding.txt | 65 ++++++++++++++++++++++++++++++++++++++++++
docs/examples.txt | 11 ++++---
5 files changed, 86 insertions(+), 9 deletions(-)
create mode 100644 docs/basic/Makefile
create mode 100644 docs/basic/myprogram.c
create mode 100644 docs/embedding.txt
diff --git a/docs/Makefile b/docs/Makefile
index 1542062..e1457cd 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -2,10 +2,10 @@
#maruku=ruby -I~/maruku/lib ~/maruku/bin/maruku
maruku=maruku
-out=out/csm_manual.pdf out/csm_manual.html
+out=csm_manual.pdf csm_manual.html
all: $(out)
-
+ cp $(out) ..
src=\
preamble.txt \
@@ -15,14 +15,14 @@ src=\
install-ruby.txt \
laserdata.txt \
formats.txt \
- examples.txt
+ examples.txt \
+ embedding.txt
%: tmp_%
cp $< $@
-out/csm_manual.txt: $(src)
- mkdir -p out
+csm_manual.txt: $(src)
cat $^ > $@
%.pdf: %.txt
diff --git a/docs/basic/Makefile b/docs/basic/Makefile
new file mode 100644
index 0000000..c32cba3
--- /dev/null
+++ b/docs/basic/Makefile
@@ -0,0 +1,4 @@
+CSM_FLAGS=`pkg-config --libs --cflags csm`
+
+myprogram: myprogram.c
+ gcc $(CSM_FLAGS) -o myprogram myprogram.c
diff --git a/docs/basic/myprogram.c b/docs/basic/myprogram.c
new file mode 100644
index 0000000..d07f1f0
--- /dev/null
+++ b/docs/basic/myprogram.c
@@ -0,0 +1,5 @@
+#include <csm/csm_all.h>
+
+int main() {
+
+}
\ No newline at end of file
diff --git a/docs/embedding.txt b/docs/embedding.txt
new file mode 100644
index 0000000..79c036e
--- /dev/null
+++ b/docs/embedding.txt
@@ -0,0 +1,65 @@
+
+## Embedding CSM in your programs ##
+
+### Linking to CSM ###
+
+When CSM is installed, a [pkgconfig] ``csm.pc`` file is installed as well.
+This makes it easy to link to CSM.
+
+[pkgconfig]: http://pkg-config.freedesktop.org/wiki/
+
+For example, on my system, after installing CSM, I can run ``pkgconfig`` to
+get the C preprocessors and linker flags.
+
+This is what I get on my system (on yours, paths will be different, of course).
+
+ $ pkg-config --cflags csm
+ -I/sw/include -I/Users/andrea/svn/cds/csm/deploy/include/cairo
+ -I/Users/andrea/svn/cds/csm/deploy/include
+
+ $ pkg-config --libs csm
+ -L/sw/lib -L/Users/andrea/svn/cds/csm/deploy/lib
+ -lcsm-static -lgsl -lgslcblas -lm
+
+If you use GNU Make, a basic Makefile for your program linking to CSM
+would be something like:
+
+ CSM_FLAGS=`pkg-config --libs --cflags csm`
+
+ myprogram: myprogram.c
+ gcc $(CSM_FLAGS) -o myprogram myprogram.c
+
+You can download the sources for this example in the repository (directory `docs/example-linking-make`).
+
+If you use [CMake] --- and you should! --- it is reccomended that
+you use something like the following in your ``CMakeLists.txt``.
+
+ cmake_minimum_required(VERSION 2.4)
+ project(myproject)
+
+ # Require we have pkgconfig installed
+ find_package(PkgConfig REQUIRED)
+ # Tell pkgconfig to look for CSM
+ pkg_check_modules(CSM REQUIRED csm)
+
+ IF(${CSM_FOUND})
+ MESSAGE("CSM_LIBRARY_DIRS: ${CSM_LIBRARY_DIRS}")
+ MESSAGE("CSM_LIBRARIES: ${CSM_LIBRARIES}")
+ MESSAGE("CSM_INCLUDE_DIRS: ${CSM_INCLUDE_DIRS}")
+
+ INCLUDE_DIRECTORIES(${CSM_INCLUDE_DIRS}) # important!
+ LINK_DIRECTORIES(${CSM_LIBRARY_DIRS}) # important!
+ ELSE(${CSM_FOUND})
+ MESSAGE(FATAL_ERROR "CSM not found. Check that the environment \
+ variable PKG_CONFIG_PATH includes the path containing the file 'csm.pc'.")
+ ENDIF(${CSM_FOUND})
+
+ add_executable(myprogram myprogram.c)
+
+ target_link_libraries(myprogram ${CSM_LIBRARIES}) # important!
+
+You can download the sources for this example in the repository (directory `docs/example-linking-cmake`).
+
+[CMake]: http://www.cmake.org/
+
+
diff --git a/docs/examples.txt b/docs/examples.txt
index d1a4b52..0b4321f 100644
--- a/docs/examples.txt
+++ b/docs/examples.txt
@@ -38,13 +38,16 @@ Create the animation:
Actually, there are a million reasons for which it shouldn't work.
If it gives strange results, try the following:
-1) Plot the data! Plot the input and plot the output using `log2pdf`.
-2) Plot the animation! Use the procedure above and inspect the resulting videos.
-3) Double-check the parameters you are using. Note that there are some like
+1. Plot the data! Plot the input and plot the output using `log2pdf`.
+
+2. Plot the animation! Use the procedure above and inspect the resulting videos.
+
+3. Double-check the parameters you are using. Note that there are some like
`max_correspondence_dist` which depend on the scale of your data. A value
of 2m might work for a big robot making large movements, but not for a little
Khepera.
-4) Smooth your data -- if your sensor is very noisy, like an Hokuyo, it's worth
+
+4. Smooth your data -- if your sensor is very noisy, like an Hokuyo, it's worth
to do simple low-pass filtering. Especially for PLICP which uses the orientation
information.
--
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