[skip ci] wip

CMakeLists.txt

@@ -141,6 +141,9 @@ SET(HDRS_SENSOR
 SET(HDRS_STATE_BLOCK
   include/${PROJECT_NAME}/state_block/local_parametrization_polyline_extreme.h
   )
+SET(HDRS_UTILS
+  include/${PROJECT_NAME}/utils/load_laser.h
+  )
 
 # ============ SOURCES ============ 
 SET(SRCS_CAPTURE
@@ -164,6 +167,9 @@ SET(SRCS_SENSOR
 SET(SRCS_STATE_BLOCK
   src/state_block/local_parametrization_polyline_extreme.cpp
   )
+SET(SRCS_UTILS
+  src/utils/load_laser.cpp
+  )
 
 # ============ OPTIONAL ============ 
 # falko
@@ -221,6 +227,7 @@ ADD_LIBRARY(${PLUGIN_NAME}
   ${SRCS_PROCESSOR}
   ${SRCS_SENSOR}
   ${SRCS_STATE_BLOCK}
+  ${SRCS_UTILS}
   )
   
 # Set compiler options
@@ -299,6 +306,8 @@ INSTALL(FILES ${HDRS_SENSOR}
   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
 INSTALL(FILES ${HDRS_STATE_BLOCK}
   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/state_block)
+INSTALL(FILES ${HDRS_UTILS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/utils)
 
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/internal)

include/laser/utils/load_laser.h

+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#pragma once
+
+namespace wolf
+{
+// This class is just to force the .so to be easily loaded in tests
+class LoadLaser
+{
+  public:
+    static bool aux_var;
+};
+
+#ifdef __GNUC__
+#define WOLF_UNUSED __attribute__((used))
+#elif defined _MSC_VER
+#pragma warning(disable : Cxxxxx)
+#define WOLF_UNUSED
+#elif defined(__LCLINT__)
+#define WOLF_UNUSED /*@unused@*/
+#elif defined(__cplusplus)
+#define WOLF_UNUSED
+#else
+#define UNUSED(x) x
+#endif
+
+#define WOLF_LOAD_LASER                                                                                               \
+    namespace                                                                                                         \
+    {                                                                                                                 \
+    const bool WOLF_UNUSED aux_var_laser = wolf::LoadLaser::aux_var;                                                  \
+    }
+
+}  // namespace wolf

src/utils/load_laser.cpp

+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "laser/utils/load_laser.h"
+
+namespace wolf
+{
+bool LoadLaser::aux_var = true;
+}  // namespace wolf

test/gtest_processor_odom_icp.cpp

@@ -17,12 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-/**
- * \file gtest_processor_odom_icp.cpp
- *
- *  Created on: Aug 6, 2019
- *      \author: jsola
- */
 
 
 #include "laser/internal/config.h"