CMakeLists.txt

@@ -26,6 +26,16 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
 SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
 
+#Build tests
+IF(NOT BUILD_TESTS)
+  OPTION(BUILD_TESTS "Build Unit tests" ON)
+ENDIF(NOT BUILD_TESTS)
+
+#Build demos
+IF(NOT BUILD_DEMOS)
+  OPTION(BUILD_DEMOS "Build demos" ON)
+ENDIF(NOT BUILD_DEMOS)
+
 #Set compiler according C++11 support
 include(CheckCXXCompilerFlag)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
@@ -40,9 +50,20 @@ else()
         message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
 
-
 ADD_SUBDIRECTORY(src)
 
+#Build tests
+IF(BUILD_TESTS)
+	# Enables testing for this directory and below.
+    # Note that ctest expects to find a test file in the build directory root.
+    # Therefore, this command should be in the source directory root.
+    #include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
+  	MESSAGE("Building tests.")
+    enable_testing()
+    set(_LASER_SCAN_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
+  	add_subdirectory(test)
+ENDIF(BUILD_TESTS)
+
 FIND_PACKAGE(Doxygen)
 
 FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)

src/CMakeLists.txt

@@ -15,15 +15,10 @@ FIND_PACKAGE(csm QUIET)
 
 #include directories
 INCLUDE_DIRECTORIES(. /usr/local/include)
-IF(Eigen3_FOUND)
-    INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
-ENDIF(Eigen3_FOUND)
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
 IF(csm_FOUND)
     INCLUDE_DIRECTORIES(${csm_INCLUDE_DIR})
 ENDIF(csm_FOUND)
-IF(Ceres_FOUND)
-    INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
-ENDIF(Ceres_FOUND)
 IF(faramotics_FOUND)
     INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS})
 ENDIF(faramotics_FOUND)
@@ -76,12 +71,19 @@ SET(SRCS
     SET(SRCS ${SRCS}
       icp.cpp)
   ENDIF(csm_FOUND)
+  
 # create the shared library
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
 IF(csm_FOUND)
   target_link_libraries(${PROJECT_NAME} ${csm_LIBRARY})
 ENDIF(csm_FOUND)
 
+# Examples
+IF(BUILD_DEMOS)
+  MESSAGE("Building examples.")
+  ADD_SUBDIRECTORY(examples)
+ENDIF(BUILD_DEMOS)
+
 #install library
 INSTALL(TARGETS ${PROJECT_NAME}
       RUNTIME DESTINATION bin
@@ -96,13 +98,3 @@ INSTALL(FILES ${HDRS}
 
 #install Find*.cmake
 INSTALL(FILES ../Findlaser_scan_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-
-#Build examples & tests
-IF(NOT BUILD_TESTS)
-  OPTION(BUILD_TESTS "Build Unit tests" ON)
-ENDIF(NOT BUILD_TESTS)
-
-IF(BUILD_TESTS)
-  MESSAGE("Building tests.")
-  ADD_SUBDIRECTORY(test)
-ENDIF(BUILD_TESTS)

src/examples/CMakeLists.txt

+INCLUDE_DIRECTORIES(../src)
+
+# polylines demo
+ADD_EXECUTABLE(demo_polylines polyline_demo.cpp)
+TARGET_LINK_LIBRARIES(demo_polylines ${PROJECT_NAME})
\ No newline at end of file

src/test/polyline_test.cpp → src/examples/polyline_demo.cpp

@@ -6,8 +6,8 @@
  */
 
 //LaserScanUtils includes
-#include "../line_finder_iterative.h"
-#include "../laser_scan.h"
+#include "line_finder_iterative.h"
+#include "laser_scan.h"
 
 //std includes
 #include <ctime>

src/test/CMakeLists.txt

-# polylines test
-ADD_EXECUTABLE(test_polylines polyline_test.cpp)
-TARGET_LINK_LIBRARIES(test_polylines ${PROJECT_NAME})
\ No newline at end of file

test/CMakeLists.txt

+# Retrieve googletest from github & compile
+add_subdirectory(gtest)
+
+# Include gtest directory.
+include_directories(${GTEST_INCLUDE_DIRS})
+
+############# USE THIS TEST AS AN EXAMPLE ####################
+#                                                            #
+# Create a specific test executable for gtest_example        #
+# gnss_utils_add_gtest(gtest_example gtest_example.cpp)      #
+# target_link_libraries(gtest_example ${PROJECT_NAME})       #
+#                                                            #
+##############################################################
+
+# gtest example
+gnss_utils_add_gtest(gtest_example gtest_example.cpp)
+target_link_libraries(gtest_example ${PROJECT_NAME})  
\ No newline at end of file

test/gtest/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.8)
+project(gtest_builder C CXX)
+
+# We need thread support
+#find_package(Threads REQUIRED)
+
+# Enable ExternalProject CMake module
+include(ExternalProject)
+
+set(GTEST_FORCE_SHARED_CRT ON)
+set(GTEST_DISABLE_PTHREADS OFF)
+
+# For some reason I need to disable PTHREADS
+# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
+# This is a known issue for MinGW :
+# https://github.com/google/shaderc/pull/174
+#if(MINGW)
+    set(GTEST_DISABLE_PTHREADS ON)
+#endif()
+
+# Download GoogleTest
+ExternalProject_Add(googletest
+    GIT_REPOSITORY https://github.com/google/googletest.git
+    GIT_TAG        v1.8.x
+    # TIMEOUT 1 # We'll try this
+    CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+    -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+    -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+    -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+    -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+    -DBUILD_GTEST=ON
+    PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+    # Disable install step
+    INSTALL_COMMAND ""
+    UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+)
+
+# Get GTest source and binary directories from CMake project
+
+# Specify include dir
+ExternalProject_Get_Property(googletest source_dir)
+set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+
+# Specify MainTest's link libraries
+ExternalProject_Get_Property(googletest binary_dir)
+set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+
+# Create a libgtest target to be used as a dependency by test programs
+add_library(libgtest IMPORTED STATIC GLOBAL)
+add_dependencies(libgtest googletest)
+
+# Set libgtest properties
+set_target_properties(libgtest PROPERTIES
+    "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+    "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+)
+
+function(gnss_utils_add_gtest target)
+  add_executable(${target} ${ARGN})
+  add_dependencies(${target} libgtest)
+  target_link_libraries(${target} libgtest)
+
+  #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+  add_test(NAME ${target} COMMAND ${target})
+endfunction()

test/gtest/utils_gtest.h

+/**
+ * \file utils_gtest.h
+ * \brief Some utils for gtest
+ * \author Jeremie Deray
+ *  Created on: 26/09/2016
+ *  Eigen macros extension by: Joan Sola on 26/04/2017
+ */
+
+#ifndef GNSSUTILS_UTILS_GTEST_H
+#define GNSSUTILS_UTILS_GTEST_H
+
+#include <gtest/gtest.h>
+
+// Macros for testing equalities and inequalities.
+//
+//    * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
+//    * {ASSERT|EXPECT}_NE(v1, v2):           Tests that v1 != v2
+//    * {ASSERT|EXPECT}_LT(v1, v2):           Tests that v1 < v2
+//    * {ASSERT|EXPECT}_LE(v1, v2):           Tests that v1 <= v2
+//    * {ASSERT|EXPECT}_GT(v1, v2):           Tests that v1 > v2
+//    * {ASSERT|EXPECT}_GE(v1, v2):           Tests that v1 >= v2
+//
+// C String Comparisons.  All tests treat NULL and any non-NULL string
+// as different.  Two NULLs are equal.
+//
+//    * {ASSERT|EXPECT}_STREQ(s1, s2):     Tests that s1 == s2
+//    * {ASSERT|EXPECT}_STRNE(s1, s2):     Tests that s1 != s2
+//    * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+//    * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// Macros for comparing floating-point numbers.
+//
+//    * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
+//         Tests that two float values are almost equal.
+//    * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
+//         Tests that two double values are almost equal.
+//    * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+//         Tests that v1 and v2 are within the given distance to each other.
+//
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+//   EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+//
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+//    * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+
+// http://stackoverflow.com/a/29155677
+
+namespace testing
+{
+namespace internal
+{
+enum GTestColor
+{
+  COLOR_DEFAULT,
+  COLOR_RED,
+  COLOR_GREEN,
+  COLOR_YELLOW
+};
+
+extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
+
+#define PRINTF(...) \
+  do { testing::internal::ColoredPrintf(testing::internal::COLOR_GREEN,\
+  "[          ] "); \
+  testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
+  while(0)
+
+#define PRINT_TEST_FINISHED \
+{ \
+  const ::testing::TestInfo* const test_info = \
+    ::testing::UnitTest::GetInstance()->current_test_info(); \
+  PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
+          append(" of test ").append(test_info->name()).append(".\n").c_str()); \
+}
+
+// C++ stream interface
+class TestCout : public std::stringstream
+{
+public:
+  ~TestCout() override
+  {
+    PRINTF("%s\n", str().c_str());
+  }
+};
+
+/* Usage :
+
+TEST(Test, Foo)
+{
+  // the following works but prints default stream
+  EXPECT_TRUE(false) << "Testing Stream.";
+
+  // or you can play with AINSI color code
+  EXPECT_TRUE(false) << "\033[1;31m" << "Testing Stream.";
+
+  // or use the above defined macros
+
+  PRINTF("Hello world");
+
+  // or
+
+  TEST_COUT << "Hello world";
+}
+
+*/
+#define TEST_COUT testing::internal::TestCout()
+
+} // namespace internal
+
+/* Macros related to testing Eigen classes:
+ */
+#define EXPECT_MATRIX_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+                  return (lhs - rhs).isMuchSmallerThan(1, precision); \
+               }, \
+               C_expect, C_actual);
+
+#define ASSERT_MATRIX_APPROX(C_expect, C_actual, precision) ASSERT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+                  return (lhs - rhs).isMuchSmallerThan(1, precision); \
+               }, \
+               C_expect, C_actual);
+
+#define EXPECT_QUATERNION_APPROX(C_expect, C_actual, precision) EXPECT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define ASSERT_QUATERNION_APPROX(C_expect, C_actual, precision) ASSERT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define EXPECT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+                   MatrixXd er = lhs - rhs; \
+                   er(2) = pi2pi((double)er(2)); \
+                   return er.isMuchSmallerThan(1, precision); \
+               }, \
+               C_expect, C_actual);
+
+#define ASSERT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+                   MatrixXd er = lhs - rhs; \
+                   er(2) = pi2pi((double)er(2)); \
+                   return er.isMuchSmallerThan(1, precision); \
+               }, \
+               C_expect, C_actual);
+
+} // namespace testing
+
+#endif /* GNSSUTILS_UTILS_GTEST_H */

test/gtest_example.cpp

+#include "gtest/utils_gtest.h"
+
+TEST(TestTest, DummyTestExample)
+{
+  EXPECT_FALSE(false);
+
+  ASSERT_TRUE(true);
+
+  int my_int = 5;
+
+  ASSERT_EQ(my_int, 5);
+
+//  PRINTF("All good at TestTest::DummyTestExample !\n");
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}