From eb0af8cc6ad5de2cd60c8dbed4f1ffde808a0dc5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 13 Dec 2020 13:50:57 +0100
Subject: [PATCH] find Eigen3

---
 CMakeLists.txt         | 2 +-
 src/CMakeLists.txt     | 7 ++++++-
 src/grid_2d.h          | 4 ++--
 src/laser_scan_utils.h | 6 +++---
 4 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 26e0780..2cc28cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW) 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 52c93b5..d787d5d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -10,9 +10,14 @@ IF(faramotics_FOUND)
     MESSAGE("Faramotics Library FOUND: Tests requiring it will be built.")
 ENDIF(faramotics_FOUND)
 
+FIND_PACKAGE(Eigen3 3.3 REQUIRED)
 FIND_PACKAGE(csm QUIET)
+
 #include directories
-INCLUDE_DIRECTORIES(.)
+INCLUDE_DIRECTORIES(. /usr/local/include)
+IF(Eigen3_FOUND)
+    INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
+ENDIF(Eigen3_FOUND)
 IF(csm_FOUND)
     INCLUDE_DIRECTORIES(${csm_INCLUDE_DIR})
 ENDIF(csm_FOUND)
diff --git a/src/grid_2d.h b/src/grid_2d.h
index 2176f6d..ba448e8 100644
--- a/src/grid_2d.h
+++ b/src/grid_2d.h
@@ -8,8 +8,8 @@
 #include "grid_cluster.h"
 
 //Eigen includes
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
 
 //std
 #include <vector>
diff --git a/src/laser_scan_utils.h b/src/laser_scan_utils.h
index 4ba5719..4c0e7de 100644
--- a/src/laser_scan_utils.h
+++ b/src/laser_scan_utils.h
@@ -3,9 +3,9 @@
 #define TYPES_LASER_SCAN_UTILS_H_
 
 //includes from Eigen lib
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
-#include <eigen3/Eigen/Sparse>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <Eigen/Sparse>
 
 //namespace laserscanutils;
 
-- 
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