From a0c01580c3b56f0a2cec74eea7c91b8bf1871a90 Mon Sep 17 00:00:00 2001
From: Jeremie Deray <jeremie.deray@pal-robotics.com>
Date: Wed, 10 Aug 2016 18:04:59 +0200
Subject: [PATCH] add wolfConfig.cmake adapted from Ceres. Export wolf
install-targets to enable find_package(wolf)
---
cmake_modules/wolfConfig.cmake | 214 +++++++++++++++++++++++++++++++++
1 file changed, 214 insertions(+)
create mode 100644 cmake_modules/wolfConfig.cmake
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
new file mode 100644
index 000000000..877b55b41
--- /dev/null
+++ b/cmake_modules/wolfConfig.cmake
@@ -0,0 +1,214 @@
+# This file was copied and adapted from the ceres_solver project
+# http://ceres-solver.org/
+
+# 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)
+
+ # 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})
+ 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})
+ 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 ${CURRENT_ROOT_INSTALL_DIR})
+
+# Set the include directories for wolf (itself).
+set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms")
+
+if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
+ 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)
+list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR})
+
+# 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(Eigen ${wolf_EIGEN_VERSION} QUIET)
+if (EIGEN_FOUND)
+ if (NOT EIGEN_VERSION VERSION_EQUAL wolf_EIGEN_VERSION)
+ # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
+ # specified version. However, only version = is supported. Improve
+ # usability by explaining why we don't accept non-exact version matching.
+ wolf_report_not_found("Found Eigen dependency, but the version of Eigen "
+ "found (${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 ${EIGEN_INCLUDE_DIRS}")
+else (EIGEN_FOUND)
+ wolf_report_not_found("Missing required wolf "
+ "dependency: Eigen version ${wolf_EIGEN_VERSION}, please set "
+ "EIGEN_INCLUDE_DIR.")
+endif (EIGEN_FOUND)
+list(APPEND wolf_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+
+# Import exported wolf targets, if they have not already been imported.
+if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
+ include(${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)
--
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