Resolve "Change destination of libxxx.so for WOLF and dependencies"

CMakeLists.txt

 # 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) 
@@ -8,11 +8,11 @@ endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
 
-
 # The project name
 PROJECT(imu)
 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)
@@ -67,16 +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()
@@ -91,7 +86,6 @@ 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)
@@ -119,14 +113,6 @@ INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE "include")
 
 #HEADERS
-
-SET(HDRS_COMMON
-  )
-SET(HDRS_MATH
-  include/imu/math/imu_tools.h
-  )
-SET(HDRS_UTILS
-  )
 SET(HDRS_CAPTURE
   include/imu/capture/capture_compass.h
   include/imu/capture/capture_imu.h
@@ -140,7 +126,8 @@ SET(HDRS_FEATURE
   include/imu/feature/feature_imu.h
   include/imu/feature/feature_imu2d.h
   )
-SET(HDRS_LANDMARK
+SET(HDRS_MATH
+  include/imu/math/imu_tools.h
   )
 SET(HDRS_PROCESSOR
   include/imu/processor/processor_compass.h
@@ -152,33 +139,15 @@ SET(HDRS_SENSOR
   include/imu/sensor/sensor_imu.h
   include/imu/sensor/sensor_imu2d.h
   )
-SET(HDRS_SOLVER
-  )
-SET(HDRS_DTASSC
-  )
 
 #SOURCES
-
-SET(SRCS_COMMON
-  )
-SET(SRCS_MATH
-  include/imu/math/imu_tools.h
-  include/imu/math/imu2d_tools.h
-  )
-SET(SRCS_UTILS
-  )
-
 SET(SRCS_CAPTURE
   src/capture/capture_imu.cpp
   )
-SET(SRCS_FACTOR
-  )
 SET(SRCS_FEATURE
   src/feature/feature_imu.cpp
   src/feature/feature_imu2d.cpp
   )
-SET(SRCS_LANDMARK
-  )
 SET(SRCS_PROCESSOR
   src/processor/processor_compass.cpp
   src/processor/processor_imu.cpp
@@ -191,55 +160,20 @@ SET(SRCS_SENSOR
   src/sensor/sensor_imu.cpp
   src/sensor/sensor_imu2d.cpp
   )
-SET(SRCS_DTASSC
-  )
-SET(SRCS_SOLVER
-  )
 SET(SRCS_YAML
   src/yaml/processor_imu_yaml.cpp
   src/yaml/processor_imu2d_yaml.cpp
   src/yaml/sensor_imu_yaml.cpp
   src/yaml/sensor_imu2d_yaml.cpp
   )
-#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_BASE}
   ${SRCS_CAPTURE}
-  ${SRCS_COMMON}
-  ${SRCS_DTASSC}
-  ${SRCS_FACTOR}
   ${SRCS_FEATURE}
-  ${SRCS_LANDMARK}
-  ${SRCS_MATH}
   ${SRCS_PROCESSOR}
   ${SRCS_SENSOR}
-  ${SRCS_SOLVER}
-  ${SRCS_UTILS}
-  ${SRCS_WRAPPER}
   ${SRCS_YAML}
   )
 
@@ -255,11 +189,9 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # using GCC
 endif()
 
-
 #Link the created libraries
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
 
-
 #Build tests
 #===============EXAMPLE=========================
 IF(BUILD_TESTS)
@@ -269,53 +201,34 @@ ENDIF(BUILD_TESTS)
 
 #install library
 
-#=============================================================
 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 ${HDRS_DTASSC}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
-INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
-INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common)
-INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils)
 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 ${HDRS_MATH}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
 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 ${HDRS_SERIALIZATION}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/serialization)
-INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
+INSTALL(FILES ${HDRS_SENSOR}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
 
+FILE(WRITE imu.found "")
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-FILE(WRITE imu.found "")
-
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
 
 INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
+
 INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
 export(PACKAGE ${PLUGIN_NAME})

cmake_modules/wolfimuConfig.cmake

@@ -12,7 +12,7 @@ ENDIF(wolfimu_INCLUDE_DIRS)
 FIND_LIBRARY(
     wolfimu_LIBRARIES
     NAMES libwolfimu.so libwolfimu.dylib
-    PATHS /usr/local/lib/iri-algorithms)
+    PATHS /usr/local/lib)
 IF(wolfimu_LIBRARIES)
   MESSAGE("Found wolf imu lib: ${wolfimu_LIBRARIES}")
 ELSE(wolfimu_LIBRARIES)
@@ -77,3 +77,8 @@ if(NOT wolf_FOUND)
   list(APPEND wolfimu_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfimu_LIBRARIES)
 endif()
+
+# provide both INCLUDE_DIR and INCLUDE_DIRS
+SET(wolfimu_INCLUDE_DIR ${wolfimu_INCLUDE_DIRS})
+# provide both LIBRARY and LIBRARIES 
+SET(wolfimu_LIBRARY ${wolfimu_LIBRARIES})