diff --git a/CMakeLists.txt b/CMakeLists.txt
index 75835804821c1f30f37e53e5de8cec0160108e1b..283da4078b98c0a53041c8ae70dbd0f93779f142 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
# 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)
@@ -12,6 +12,8 @@ SET(CMAKE_MACOSX_RPATH 1)
PROJECT(gnss)
set(PLUGIN_NAME wolf${PROJECT_NAME})
+MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
+
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
SET(CMAKE_INSTALL_PREFIX /usr/local)
@@ -41,7 +43,6 @@ if(UNIX)
"${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
endif(UNIX)
-
IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
@@ -66,16 +67,11 @@ if(BUILD_TESTS)
enable_testing()
endif()
-MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
-
#CMAKE modules
-
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
MESSAGE(STATUS ${CMAKE_MODULE_PATH})
# Some wolf compilation options
-
IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
set(_WOLF_DEBUG true)
ENDIF()
@@ -90,26 +86,11 @@ IF(BUILD_EXAMPLES OR BUILD_TESTS)
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
-
#find dependencies.
# ============EXAMPLE==================
FIND_PACKAGE(wolfcore REQUIRED)
FIND_PACKAGE(gnss_utils REQUIRED)
-#FIND_PATH(
-# Suitesparse_INCLUDE_DIRS
-# NAMES SuiteSparse_config.h
-# PATHS /usr/include/suitesparse /usr/local/include/suitesparse)
-#MESSAGE("Found suitesparse_INCLUDE_DIRS:" ${Suitesparse_INCLUDE_DIRS})
-
-#IF(Suitesparse_INCLUDE_DIRS)
-# SET(Suitesparse_FOUND TRUE)
-# MESSAGE("Suitesparse FOUND: wolf_solver will be built.")
-#ELSE (Suitesparse_INCLUDE_DIRS)
-# SET(Suitesparse_FOUND FALSE)
-# MESSAGE(FATAL_ERROR "Suitesparse NOT FOUND")
-#ENDIF (Suitesparse_INCLUDE_DIRS)
-
# Define the directory where will be the configured config.h
SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
@@ -134,14 +115,6 @@ INCLUDE_DIRECTORIES(${gnss_utils_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(BEFORE "include")
#HEADERS
-SET(HDRS_COMMON
- )
-SET(HDRS_MATH
- )
-SET(HDRS_UTILS
- )
-SET(HDRS_STATE_BLOCK
- )
SET(HDRS_CAPTURE
include/gnss/capture/capture_gnss.h
include/gnss/capture/capture_gnss_fix.h
@@ -161,8 +134,6 @@ SET(HDRS_FEATURE
include/gnss/feature/feature_gnss_tdcp.h
include/gnss/feature/feature_gnss_satellite.h
)
-SET(HDRS_LANDMARK
- )
SET(HDRS_PROCESSOR
include/gnss/processor/processor_gnss_fix.h
include/gnss/processor/processor_gnss_tdcp.h
@@ -171,31 +142,15 @@ SET(HDRS_PROCESSOR
SET(HDRS_SENSOR
include/gnss/sensor/sensor_gnss.h
)
-SET(HDRS_SOLVER
- )
SET(HDRS_TREE_MANAGER
include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h
)
#SOURCES
-SET(SRCS_COMMON
- )
-SET(SRCS_MATH
- )
-SET(SRCS_UTILS
- )
-SET(SRCS_STATE_BLOCK
- )
SET(SRCS_CAPTURE
src/capture/capture_gnss.cpp
src/capture/capture_gnss_fix.cpp
)
-SET(SRCS_FACTOR
- )
-SET(SRCS_FEATURE
- )
-SET(SRCS_LANDMARK
- )
SET(SRCS_PROCESSOR
src/processor/processor_gnss_fix.cpp
src/processor/processor_gnss_tdcp.cpp
@@ -204,54 +159,17 @@ SET(SRCS_PROCESSOR
SET(SRCS_SENSOR
src/sensor/sensor_gnss.cpp
)
-SET(SRCS_SOLVER
- )
SET(SRCS_TREE_MANAGER
src/tree_manager/tree_manager_sliding_window_tdcp.cpp
)
-SET(SRCS_YAML
- )
-#OPTIONALS
-#optional HDRS and SRCS
-# ==================EXAMPLE===============
-# IF (Ceres_FOUND)
-# SET(HDRS_WRAPPER
-# include/base/solver_suitesparse/sparse_utils.h
-# include/base/solver/solver_manager.h
-# include/base/ceres_wrapper/ceres_manager.h
-# include/base/ceres_wrapper/cost_function_wrapper.h
-# include/base/ceres_wrapper/create_numeric_diff_cost_function.h
-# include/base/ceres_wrapper/local_parametrization_wrapper.h
-# )
-# SET(SRCS_WRAPPER
-# src/solver/solver_manager.cpp
-# src/ceres_wrapper/ceres_manager.cpp
-# src/ceres_wrapper/local_parametrization_wrapper.cpp
-# )
-# ELSE(Ceres_FOUND)
-# SET(HDRS_WRAPPER)
-# SET(SRCS_WRAPPER)
-# ENDIF(Ceres_FOUND)
-
# create the shared library
ADD_LIBRARY(${PLUGIN_NAME}
SHARED
${SRCS_CAPTURE}
- ${SRCS_COMMON}
- ${SRCS_DTASSC}
- ${SRCS_FACTOR}
- ${SRCS_FEATURE}
- ${SRCS_LANDMARK}
- ${SRCS_MATH}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
- ${SRCS_SOLVER}
- ${SRCS_STATE_BLOCK}
${SRCS_TREE_MANAGER}
- ${SRCS_UTILS}
- ${SRCS_WRAPPER}
- ${SRCS_YAML}
)
# Set compiler options
@@ -266,13 +184,11 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# using GCC
endif()
-
#Link the created libraries
#===============EXAMPLE=========================
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${gnss_utils_LIBRARIES})
-
#Build tests
#===============EXAMPLE=========================
IF(BUILD_TESTS)
@@ -284,35 +200,23 @@ ENDIF(BUILD_TESTS)
#=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib/iri-algorithms
- ARCHIVE DESTINATION lib/iri-algorithms)
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers
-INSTALL(FILES ${HDRS_STATE_BLOCK}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/state_block)
INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
INSTALL(FILES ${HDRS_FACTOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
INSTALL(FILES ${HDRS_FEATURE}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
-INSTALL(FILES ${HDRS_SENSOR}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
-INSTALL(FILES ${HDRS_LANDMARK}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
-INSTALL(FILES ${HDRS_WRAPPER}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper)
-#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-# DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse)
-INSTALL(FILES ${HDRS_SOLVER}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver)
+INSTALL(FILES ${HDRS_SENSOR}
+ DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_TREE_MANAGER}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/tree_manager)
-INSTALL(FILES ${HDRS_YAML}
- DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
FILE(WRITE ${PROJECT_NAME}.found "")
INSTALL(FILES ${PROJECT_NAME}.found
diff --git a/cmake_modules/wolfgnssConfig.cmake b/cmake_modules/wolfgnssConfig.cmake
index 5d041b978feb32a0dfc114ebc2b93b738dd939fb..43a786472f1ee81eb0292f6fd1c6b780a1713534 100644
--- a/cmake_modules/wolfgnssConfig.cmake
+++ b/cmake_modules/wolfgnssConfig.cmake
@@ -12,7 +12,7 @@ ENDIF(wolfgnss_INCLUDE_DIRS)
FIND_LIBRARY(
wolfgnss_LIBRARIES
NAMES libwolfgnss.so
- PATHS /usr/local/lib/iri-algorithms)
+ PATHS /usr/local/lib)
IF(wolfgnss_LIBRARIES)
MESSAGE("Found gnss lib: ${wolfgnss_LIBRARIES}")
ELSE(wolfgnss_LIBRARIES)
@@ -80,4 +80,9 @@ if(NOT wolf_FOUND)
list(REVERSE wolfgnss_LIBRARIES)
list(APPEND wolfgnss_LIBRARIES ${wolfcore_LIBRARIES})
list(REVERSE wolfgnss_LIBRARIES)
-endif()
\ No newline at end of file
+endif()
+
+# provide both INCLUDE_DIR and INCLUDE_DIRS
+SET(wolfgnss_INCLUDE_DIR ${wolfgnss_INCLUDE_DIRS})
+# provide both LIBRARY and LIBRARIES
+SET(wolfgnss_LIBRARY ${wolfgnss_LIBRARIES})
\ No newline at end of file