move to cmakelists in root and include folder

CMakeLists.txt

@@ -52,7 +52,112 @@ else()
         message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
 
-ADD_SUBDIRECTORY(src)
+
+# ============ INCLUDES ============ 
+INCLUDE_DIRECTORIES("include")
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
+
+IF(csm_FOUND)
+  MESSAGE(STATUS "CSM lib found")
+  INCLUDE_DIRECTORIES(${csm_INCLUDE_DIRS})
+ENDIF(csm_FOUND)
+IF(faramotics_FOUND)
+  MESSAGE(STATUS "FARAMOTICS lib found")
+  INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS})
+ENDIF(faramotics_FOUND)
+IF(falkolib_FOUND)
+  MESSAGE(STATUS "FALKO lib found:")
+  add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+  INCLUDE_DIRECTORIES(${falkolib_INCLUDE_DIRS})
+  LINK_DIRECTORIES(${falkolib_LIBRARY_DIRS})
+ENDIF(falkolib_FOUND)
+
+#headers
+SET(HDRS_BASE
+    include/laser_scan_utils/laser_scan_utils.h)
+
+SET(HDRS
+    include/laser_scan_utils/corner_finder.h
+    include/laser_scan_utils/corner_finder_inscribed_angle.h
+    include/laser_scan_utils/corner_point.h
+    include/laser_scan_utils/grid_2d.h
+    include/laser_scan_utils/grid_cluster.h
+    include/laser_scan_utils/laser_scan.h
+    include/laser_scan_utils/laser_scan_with_params.h
+    include/laser_scan_utils/line_finder.h
+    include/laser_scan_utils/line_finder_hough.h
+    include/laser_scan_utils/line_finder_iterative.h
+    include/laser_scan_utils/line_finder_jump_fit.h
+    include/laser_scan_utils/line_segment.h
+    include/laser_scan_utils/point_set.h
+    include/laser_scan_utils/polyline.h
+    include/laser_scan_utils/scan_segment.h
+    include/laser_scan_utils/loop_closure_base.h
+    include/laser_scan_utils/scene_base.h
+    
+    )
+  IF(csm_FOUND)
+    SET(HDRS ${HDRS}
+      include/laser_scan_utils/icp.h)
+  ENDIF(csm_FOUND)
+
+  IF(falkolib_FOUND)
+    SET(HDRS ${HDRS}
+      include/laser_scan_utils/corner_falko_2d.h
+      include/laser_scan_utils/loop_closure_falko.h
+      include/laser_scan_utils/scene_falko.h
+      include/laser_scan_utils/match_loop_closure_scene.h)
+  ENDIF(falkolib_FOUND)
+
+#sources
+SET(SRCS
+    src/corner_finder.cpp
+    src/corner_finder_inscribed_angle.cpp
+    src/corner_point.cpp
+    src/grid_2d.cpp
+    src/grid_cluster.cpp
+    src/laser_scan.cpp
+    src/laser_scan_with_params.cpp
+    src/line_finder.cpp
+    src/line_finder_hough.cpp
+    src/line_finder_iterative.cpp
+    src/line_finder_jump_fit.cpp
+    src/line_segment.cpp
+    src/point_set.cpp
+    src/polyline.cpp
+    src/scan_segment.cpp
+    )
+  IF(csm_FOUND)
+    SET(SRCS ${SRCS}
+      src/icp.cpp)
+  ENDIF(csm_FOUND)
+
+  IF(falkolib_FOUND)
+    SET(SRCS ${SRCS}
+      src/corner_falko_2d.cpp)
+  ENDIF(falkolib_FOUND)
+
+
+# create the shared library
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
+
+#Link the created libraries
+#=============================================================
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} Eigen3::Eigen)
+IF(csm_FOUND)
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${csm_LIBRARIES})
+ENDIF(csm_FOUND)
+IF(falkolib_FOUND)
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${falkolib_LIBRARY})
+ENDIF(falkolib_FOUND)
+
+
+#Build tests
+#===============EXAMPLE=========================
+IF(BUILD_DEMOS)
+  MESSAGE("Building examples.")
+  ADD_SUBDIRECTORY(examples)
+ENDIF(BUILD_DEMOS)
 
 #install library
 #=============================================================
@@ -63,6 +168,13 @@ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
 )
 install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/${PROJECT_NAME}/cmake)
 
+
+#install headers
+INSTALL(FILES ${HDRS_BASE}
+      DESTINATION include/iri-algorithms/laser_scan_utils)
+INSTALL(FILES ${HDRS}
+      DESTINATION include/iri-algorithms/laser_scan_utils)
+
 # Configure the package installation
 include(CMakePackageConfigHelpers)
 configure_package_config_file(

src/examples/polyline_demo.cpp → examples/polyline_demo.cpp

@@ -27,8 +27,8 @@
  */
 
 //LaserScanUtils includes
-#include "line_finder_iterative.h"
-#include "laser_scan.h"
+#include "laser_scan_utils/line_finder_iterative.h"
+#include "laser_scan_utils/laser_scan.h"
 
 //std includes
 #include <ctime>