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Commit 9539a86d authored by acoromin's avatar acoromin
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parent 91bf3a26
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#edit the following line to add the librarie's header files
FIND_PATH(
laser_scan_utils_INCLUDE_DIR
NAMES scan_params.h corners.h
PATHS /usr/local/include/iri-algorithms
laser_scan_utils_INCLUDE_DIRS
NAMES corners.h geometry.h scan_params.h types_laser_scan_utils.h
PATHS /usr/local/include/iri-algorithms/laser_scan_utils
)
FIND_LIBRARY(
laser_scan_utils_LIBRARY
NAMES laser_scan_utils
PATHS /usr/lib /usr/local/lib /usr/local/lib/iri-algorithms)
PATHS /usr/lib /usr/local/lib /usr/local/lib/iri-algorithms/laser_scan_utils)
IF (laser_scan_utils_INCLUDE_DIR AND laser_scan_utils_LIBRARY)
IF (laser_scan_utils_INCLUDE_DIRS AND laser_scan_utils_LIBRARY)
SET(laser_scan_utils_FOUND TRUE)
ENDIF (laser_scan_utils_INCLUDE_DIR AND laser_scan_utils_LIBRARY)
ENDIF (laser_scan_utils_INCLUDE_DIRS AND laser_scan_utils_LIBRARY)
IF (laser_scan_utils_FOUND)
IF (NOT laser_scan_utils_FIND_QUIETLY)
......
......@@ -24,7 +24,7 @@ SET(HDRS
corners.h
geometry.h
scan_params.h
types.h)
types_laser_scan_utils.h)
#sources
SET(SRCS
......@@ -37,12 +37,12 @@ ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
#install library
INSTALL(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms)
LIBRARY DESTINATION lib/iri-algorithms/laser_scan_utils
ARCHIVE DESTINATION lib/iri-algorithms/laser_scan_utils)
#install headers
INSTALL(FILES ${HDRS}
DESTINATION include/iri-algorithms)
DESTINATION include/iri-algorithms/laser_scan_utils)
INSTALL(FILES ../Findlaser_scan_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
......
#ifndef TYPES_H_
#define TYPES_H_
//includes from Eigen lib
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>
//namespace laserscanutils;
//type scalar, in case working on 32-bit architectures , or benchmarking
namespace laserscanutils
{
//typedef float ScalarT; // Use this for float, 32 bit precision
typedef double ScalarT; // Use this for double, 64 bit precision
//typedef long double ScalarT; // Use this for long double, 128 bit precision
}
// Eigen namespace extension using the above defined scalar
namespace Eigen
{
// 1. Vectors and Matrices
typedef Matrix<laserscanutils::ScalarT, 2, 2> Matrix2s; ///< 2x2 matrix of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 3, 3> Matrix3s; ///< 3x3 matrix of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 4, 4> Matrix4s; ///< 4x4 matrix of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, Dynamic, Dynamic> MatrixXs; ///< variable size matrix of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 1, 1> Vector1s; ///< 1-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 2, 1> Vector2s; ///< 2-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 3, 1> Vector3s; ///< 3-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 4, 1> Vector4s; ///< 4-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, Dynamic, 1> VectorXs; ///< variable size vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 1, 2> RowVector2s; ///< 2-row-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 1, 3> RowVector3s; ///< 3-row-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 1, 4> RowVector4s; ///< 4-row-vector of real scalar_t type
typedef Matrix<laserscanutils::ScalarT, 1, Dynamic> RowVectorXs; ///< variable size row-vector of real scalar_t type
// 2. Quaternions and other rotation things
typedef Quaternion<laserscanutils::ScalarT> Quaternions; ///< Quaternion of real scalar_t type
typedef AngleAxis<laserscanutils::ScalarT> AngleAxiss; ///< Angle-Axis of real scalar_t type
}
#endif
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