Fix CMake. Only using Config file

CMakeLists.txt

@@ -11,6 +11,7 @@ SET(CMAKE_MACOSX_RPATH 1)
 
 # The project name
 PROJECT(IMU)
+set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
@@ -245,7 +246,7 @@ SET(SRCS_YAML
 # ENDIF(Ceres_FOUND)
 
 # create the shared library
-ADD_LIBRARY(${PROJECT_NAME}
+ADD_LIBRARY(${PLUGIN_NAME}
   SHARED
   ${SRCS_BASE}
   ${SRCS_CAPTURE}
@@ -262,24 +263,24 @@ ADD_LIBRARY(${PROJECT_NAME}
   ${SRCS_WRAPPER}
   ${SRCS_YAML}
   )
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
 
 #Link the created libraries
 #===============EXAMPLE=========================
 # IF (Ceres_FOUND)
-#     TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES})
+#     TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
 # ENDIF(Ceres_FOUND)
 
 
 #Build tests
 #===============EXAMPLE=========================
 IF (GLOG_FOUND)
-    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY})
+    TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${GLOG_LIBRARY})
 ENDIF (GLOG_FOUND)
 #check if this is done correctly
 IF (OPENCV_FOUND AND Apriltag_FOUND)
     LINK_LIBRARIES(apriltag m)
-    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${APRILTAG_LIBRARY}  ${CMAKE_THREAD_LIBS_INIT} ${OPENCV_LDFLAGS} m)
+    TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${APRILTAG_LIBRARY}  ${CMAKE_THREAD_LIBS_INIT} ${OPENCV_LDFLAGS} m)
 ENDIF(OPENCV_FOUND AND Apriltag_FOUND)
 
 IF (GLOG_FOUND)
@@ -292,12 +293,12 @@ ENDIF (GLOG_FOUND)
 #install library
 
 #=============================================================
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
+INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
       RUNTIME DESTINATION bin
       LIBRARY DESTINATION lib/iri-algorithms
       ARCHIVE DESTINATION lib/iri-algorithms)
 
-install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
+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)
@@ -332,24 +333,15 @@ INSTALL(FILES ${HDRS_YAML}
 
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-  DESTINATION "lib/cmake/wolf${PROJECT_NAME}")
 FILE(WRITE IMU.found "")
-#install Find*.cmake
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolf${PROJECT_NAME}Config.cmake"
-               "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" @ONLY)
-# configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-#                "${CMAKE_BINARY_DIR}/Findwolf${PROJECT_NAME}.cmake" @ONLY)
 
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
 DESTINATION include/iri-algorithms/wolf/internal)
 
-# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-#   DESTINATION "lib/cmake/${PROJECT_NAME}")
-INSTALL(FILES "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" DESTINATION "lib/cmake/wolf${PROJECT_NAME}")
+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 wolf_${PROJECT_NAME})
+export(PACKAGE ${PLUGIN_NAME})
 
 FIND_PACKAGE(Doxygen)
 

cmake_modules/wolfIMUConfig.cmake

-# This file was copied and adapted from the ceres_solver project
-# http://ceres-solver.org/
+#edit the following line to add the librarie's header files
+FIND_PATH(
+    wolfIMU_INCLUDE_DIR
+    NAMES IMU.found
+    PATHS /usr/local/include/iri-algorithms/wolf/plugin_IMU)
+IF(wolfIMU_INCLUDE_DIR)
+  MESSAGE("Found wolf IMU include dirs: ${wolfIMU_INCLUDE_DIR}")
+ELSE(wolfIMU_INCLUDE_DIR)
+  MESSAGE("Couldn't find wolf IMU include dirs")
+ENDIF(wolfIMU_INCLUDE_DIR)
+
+FIND_LIBRARY(
+    wolfIMU_LIBRARY
+    NAMES libwolfIMU.so
+    PATHS /usr/local/lib/iri-algorithms)
+IF(wolfIMU_LIBRARY)
+  MESSAGE("Found wolf IMU lib: ${wolfIMU_LIBRARY}")
+ELSE(wolfIMU_LIBRARY)
+  MESSAGE("Couldn't find wolf IMU lib")
+ENDIF(wolfIMU_LIBRARY)
+
+IF (wolfIMU_INCLUDE_DIR AND wolfIMU_LIBRARY)
+   SET(wolfIMU_FOUND TRUE)
+ ELSE(wolfIMU_INCLUDE_DIR AND wolfIMU_LIBRARY)
+   set(wolfIMU_FOUND FALSE)
+ENDIF (wolfIMU_INCLUDE_DIR AND wolfIMU_LIBRARY)
+
+IF (wolfIMU_FOUND)
+   IF (NOT wolfIMU_FIND_QUIETLY)
+      MESSAGE(STATUS "Found wolf IMU: ${wolfIMU_LIBRARY}")
+   ENDIF (NOT wolfIMU_FIND_QUIETLY)
+ELSE (wolfIMU_FOUND)
+   IF (wolfIMU_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find wolf IMU")
+   ENDIF (wolfIMU_FIND_REQUIRED)
+ENDIF (wolfIMU_FOUND)
 
-# wolf - Windowed Localization Frames
-# Copyright 2016
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright notice,
-#   this list of conditions and the following disclaimer.
-# * Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-# * Neither the name of Google Inc. nor the names of its contributors may be
-#   used to endorse or promote products derived from this software without
-#   specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-# Authors: 
-#
-
-# Config file for wolf - Find wolf & dependencies.
-#
-# This file is used by CMake when find_package(wolf) is invoked and either
-# the directory containing this file either is present in CMAKE_MODULE_PATH
-# (if wolf was installed), or exists in the local CMake package registry if
-# the wolf build directory was exported.
-#
-# This module defines the following variables:
-#
-# wolf_FOUND / wolf_FOUND: True if wolf has been successfully
-#                            found. Both variables are set as although
-#                            FindPackage() only references wolf_FOUND
-#                            in Config mode, given the conventions for
-#                            <package>_FOUND when FindPackage() is
-#                            called in Module mode, users could
-#                            reasonably expect to use wolf_FOUND
-#                            instead.
-#
-# wolf_VERSION: Version of wolf found.
-#
-# wolf_INCLUDE_DIRS: Include directories for wolf and the
-#                     dependencies which appear in the wolf public
-#                     API and are thus required to use wolf.
-#
-# wolf_LIBRARIES: Libraries for wolf and all
-#                  dependencies against which wolf was
-#                  compiled. This will not include any optional
-#                  dependencies that were disabled when wolf was
-#                  compiled.
-#
-# The following variables are also defined for legacy compatibility
-# only.  Any new code should not use them as they do not conform to
-# the standard CMake FindPackage naming conventions.
-#
-# wolf_INCLUDES = ${wolf_INCLUDE_DIRS}.
-
-# Called if we failed to find Ceres or any of its required dependencies,
-# unsets all public (designed to be used externally) variables and reports
-# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
 macro(wolf_report_not_found REASON_MSG)
-  # FindPackage() only references Ceres_FOUND, and requires it to be
-  # explicitly set FALSE to denote not found (not merely undefined).
-  set(wolf_FOUND FALSE)
-  set(wolf_FOUND FALSE)
-  unset(wolf_INCLUDE_DIRS)
-  unset(wolf_LIBRARIES)
+  set(wolfIMU_FOUND FALSE)
+  unset(wolfIMU_INCLUDE_DIR)
+  unset(wolfIMU_LIBRARIES)
 
   # Reset the CMake module path to its state when this script was called.
   set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
 
   # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
   # FindPackage() use the camelcase library name, not uppercase.
-  if (wolf_FIND_QUIETLY)
-    message(STATUS "Failed to find wolf - " ${REASON_MSG} ${ARGN})
-  else (wolf_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolf - " ${REASON_MSG} ${ARGN})
+  if (wolfIMU_FIND_QUIETLY)
+    message(STATUS "Failed to find wolf IMU- " ${REASON_MSG} ${ARGN})
+  else (wolfIMU_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN})
   else()
     # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
     # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolf - " ${REASON_MSG} ${ARGN})
+    message(SEND_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN})
   endif ()
   return()
 endmacro(wolf_report_not_found)
 
-# Record the state of the CMake module path when this script was
-# called so that we can ensure that we leave it in the same state on
-# exit as it was on entry, but modify it locally.
-set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
-
-# Get the (current, i.e. installed) directory containing this file.
-get_filename_component(wolf_CURRENT_CONFIG_DIR
-  "${CMAKE_CURRENT_LIST_FILE}" PATH)
-
-# Reset CMake module path to the installation directory of this
-# script, thus we will use the FindPackage() scripts shipped with
-# wolf to find wolf' dependencies, even if the user has equivalently
-# named FindPackage() scripts in their project.
-set(CMAKE_MODULE_PATH ${wolf_CURRENT_CONFIG_DIR})
-
-# Build the absolute root install directory as a relative path
-# (determined when wolf was configured & built) from the current
-# install directory for this this file.  This allows for the install
-# tree to be relocated, after wolf was built, outside of CMake.
-get_filename_component(CURRENT_ROOT_INSTALL_DIR
-  ${wolf_CURRENT_CONFIG_DIR}/../../../
-  ABSOLUTE)
-if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-  wolf_report_not_found(
-    "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-    "determined from relative path from wolfConfig.cmake install location: "
-    "${wolf_CURRENT_CONFIG_DIR}, does not exist. Either the install "
-    "directory was deleted, or the install tree was only partially relocated "
-    "outside of CMake after wolf was built.")
-endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-
+if(NOT wolfIMU_FOUND)
+  wolf_report_not_found("TROUBLE DUDE.")
+endif(NOT wolfIMU_FOUND)
 # Set the include directories for wolf (itself).
-set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms")
-
+set(wolfIMU_FOUND TRUE)
\ No newline at end of file
-# if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
-if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf)
-  wolf_report_not_found(
-    "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-    "determined from relative path from wolfConfig.cmake install location: "
-    "${wolf_CURRENT_CONFIG_DIR}, does not contain wolf headers. "
-    "Either the install directory was deleted, or the install tree was only "
-    "partially relocated outside of CMake after wolf was built.")
-# endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
-endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf)
-list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR}/wolf)
-
-# Set the version.
-set(wolf_VERSION 0.0.1)
-
-# Eigen.
-
-# Flag set during configuration and build of wolf.
-set(wolf_EIGEN_VERSION @EIGEN_VERSION@)
-# Append the locations of Eigen when wolf was built to the search path hints.
-list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
-# Search quietly to control the timing of the error message if not found. The
-# search should be for an exact match, but for usability reasons do a soft
-# match and reject with an explanation below.
-
-find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
-
-# Flag set with currently found Eigen version.
-set(EIGEN_VERSION @EIGEN_VERSION@)
-if (EIGEN3_FOUND)
-  if (NOT EIGEN_VERSION VERSION_EQUAL wolf_EIGEN_VERSION)
-    # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
-    # specified version. However, only version = is supported. Improve
-    # usability by explaining why we don't accept non-exact version matching.
-    wolf_report_not_found("Found Eigen dependency, but the version of Eigen "
-      "found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
-      "wolf was compiled with (${wolf_EIGEN_VERSION}). This can cause subtle "
-      "bugs by triggering violations of the One Definition Rule. See the "
-      "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
-      "for more details")
-  endif ()
-  message(STATUS "Found required wolf dependency: "
-    "Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIR}")
-else (EIGEN3_FOUND)
-  wolf_report_not_found("Missing required wolf "
-    "dependency: Eigen version ${wolf_EIGEN_VERSION}, please set "
-    "EIGEN3_INCLUDE_DIR.")
-endif (EIGEN3_FOUND)
-list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
-
-# Import exported wolf targets, if they have not already been imported.
-if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
-  include(${wolf_CURRENT_CONFIG_DIR}/wolfTargets.cmake)
-endif (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
-# Set the expected XX_LIBRARIES variable for FindPackage().
-set(wolf_LIBRARIES wolf)
-
-# Set legacy library variable for backwards compatibility.
-set(wolf_LIBRARY ${wolf_LIBRARIES})
-
-# Make user aware of any compile flags that will be added to their targets
-# which use wolf (i.e. flags exported in the wolf target).  Only CMake
-# versions >= 2.8.12 support target_compile_options().
-if (TARGET ${wolf_LIBRARIES} AND
-    NOT CMAKE_VERSION VERSION_LESS "2.8.12")
-  get_target_property(wolf_INTERFACE_COMPILE_OPTIONS
-    ${wolf_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
-
-  set(wolf_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
-
-  # Check for -std=c++11 flags.
-  if (wolf_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
-    message(STATUS "wolf version ${wolf_VERSION} detected here: "
-      "${wolf_LOCATION} was built with C++11. wolf target will add "
-      "C++11 flags to compile options for targets using it.")
-  endif()
-endif()
-
-# Reset CMake module path to its state when this script was called.
-set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-# As we use wolf_REPORT_NOT_FOUND() to abort, if we reach this point we have
-# found wolf and all required dependencies.
-message(STATUS "Found wolf version: ${wolf_VERSION} installed in: ${CURRENT_ROOT_INSTALL_DIR}")
-
-# Set wolf_FOUND to be equivalent to wolf_FOUND, which is set to
-# TRUE by FindPackage() if this file is found and run, and after which
-# wolf_FOUND is not (explicitly, i.e. undefined does not count) set
-# to FALSE.
-set(wolf_FOUND TRUE)

test/CMakeLists.txt

@@ -9,26 +9,26 @@ include_directories(${GTEST_INCLUDE_DIRS})
 #                                                         #
 # Create a specific test executable for gtest_example     #
 wolf_add_gtest(gtest_example gtest_example.cpp)           #
-target_link_libraries(gtest_example ${PROJECT_NAME})      #
+target_link_libraries(gtest_example ${PLUGIN_NAME})      #
 #                                                         #
 ###########################################################
 
 wolf_add_gtest(gtest_processor_IMU gtest_processor_IMU.cpp)
-target_link_libraries(gtest_processor_IMU ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_IMU gtest_IMU.cpp)
-target_link_libraries(gtest_IMU ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp)
-target_link_libraries(gtest_IMU_tools ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_IMU_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_processor_IMU_jacobians gtest_processor_IMU_jacobians.cpp)
-target_link_libraries(gtest_processor_IMU_jacobians ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_IMU_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_feature_IMU gtest_feature_IMU.cpp)
-target_link_libraries(gtest_feature_IMU ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_feature_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 # Has been excluded from tests for god knows how long, so thing is broken.
 # Maybe call an archeologist to fix this thing?
 # wolf_add_gtest(gtest_factor_IMU gtest_factor_IMU.cpp)
-# target_link_libraries(gtest_factor_IMU ${PROJECT_NAME} ${wolf_LIBRARY})
+# target_link_libraries(gtest_factor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})