diff --git a/.gitignore b/.gitignore
index 63651704510524003d8c5eb988447d63b842aca0..2a19e53e62aaa9c251b2f92657392e589597f1d6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,8 +6,8 @@ bin/
build/
build_debug/
build_release/
-build-release/
build-debug/
+build-release/
lib/
.idea/
./Wolf.user
@@ -33,7 +33,6 @@ src/CMakeFiles/cmake.check_cache
src/examples/map_apriltag_save.yaml
\.vscode/
-build_release/
.clangd
wolfcore.found
/wolf.found
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 92aa03bb2bdb38b56f8122aab2818d9beb9779c8..8337cb1148e9f8669aecc9a6ab7558c5a08446b9 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -18,6 +18,7 @@ stages:
- echo $GNSSUTILS_BRANCH
- echo $LASERSCANUTILS_BRANCH
- echo $DEPLOY_CI_ROS
+ - echo $WOLF_ROS_NODE_BRANCH
- echo $WOLF_ROS_IMU_BRANCH
- echo $WOLF_ROS_GNSS_BRANCH
- echo $WOLF_ROS_LASER_BRANCH
@@ -299,9 +300,11 @@ deploy_wolf_ros_node:
WOLF_ROS_VISION_BRANCH: $WOLF_ROS_VISION_BRANCH
WOLF_ROS_APRILTAG_BRANCH: $WOLF_ROS_APRILTAG_BRANCH
WOLF_ROS_BODYDYNAMICS_BRANCH: $WOLF_ROS_BODYDYNAMICS_BRANCH
+ GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
+ LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node
- branch: $WOLF_ROS_CORE_BRANCH
+ branch: $WOLF_ROS_NODE_BRANCH
############ DEPLOY WOLF_ROS_NODE FOR main ############
deploy_wolf_ros_node_main:
@@ -322,6 +325,8 @@ deploy_wolf_ros_node_main:
WOLF_ROS_VISION_BRANCH: main
WOLF_ROS_APRILTAG_BRANCH: main
WOLF_ROS_BODYDYNAMICS_BRANCH: main
+ GNSSUTILS_BRANCH: main
+ LASERSCANUTILS_BRANCH: main
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node
branch: main
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c94b33bfb04c9751c727f62bb16557cd1ef8f508..e69a3926a1a15adc529a45d8c37c7aa3a5437ff5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,12 +2,7 @@
MESSAGE(STATUS "Starting WOLF CMakeLists ...")
# Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
-
-if(COMMAND cmake_policy)
- cmake_policy(SET CMP0005 NEW)
- cmake_policy(SET CMP0003 NEW)
-endif(COMMAND cmake_policy)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
# MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH 1)
@@ -17,10 +12,11 @@ PROJECT(core)
set(PLUGIN_NAME "wolf${PROJECT_NAME}")
# Paths
+SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY FALSE)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-SET(CMAKE_INSTALL_PREFIX /usr/local)
-SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY FALSE)
+SET(LIB_INSTALL_DIR lib)
+SET(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
# Build type
IF (NOT CMAKE_BUILD_TYPE)
@@ -80,21 +76,18 @@ ENDIF()
option(_WOLF_TRACE "Enable wolf tracing macro" ON)
-#CMAKE modules
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
-MESSAGE(STATUS "Cmake modules at: " ${CMAKE_MODULE_PATH})
-
# ============ DEPENDENCIES ============
-FIND_PACKAGE(Threads REQUIRED)
-FIND_PACKAGE(Ceres REQUIRED)
-FIND_PACKAGE(Eigen3 3.3 REQUIRED)
+FIND_PACKAGE(Threads REQUIRED MODULE)
+FIND_PACKAGE(Ceres REQUIRED CONFIG)
+FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
endif()
-FIND_PACKAGE(YamlCpp REQUIRED)
+FIND_PACKAGE(yaml-cpp REQUIRED CONFIG)
# ============ config.h ============
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+set(_WOLF_LIB_DIR ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR})
# Define the directory where will be the configured config.h
SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/core/internal)
@@ -124,9 +117,7 @@ ENDIF (SPDLOG_INCLUDE_DIR)
# ============ INCLUDES ============
INCLUDE_DIRECTORIES("include") # In this same project
-INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
+
# ============ HEADERS ============
SET(HDRS_CAPTURE
include/core/capture/capture_base.h
@@ -382,10 +373,6 @@ ELSE(Ceres_FOUND)
SET(SRCS_CERES_WRAPPER)
ENDIF(Ceres_FOUND)
-IF (Suitesparse_FOUND)
- #ADD_SUBDIRECTORY(solver_suitesparse)
-ENDIF(Suitesparse_FOUND)
-
# create the shared library
ADD_LIBRARY(${PLUGIN_NAME}
SHARED
@@ -423,21 +410,22 @@ endif()
#Link the created libraries
#=============================================================
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT} dl)
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${YAMLCPP_LIBRARY})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT} dl)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC yaml-cpp)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC Eigen3::Eigen)
IF (Ceres_FOUND)
- TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
+ TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC ceres)
ENDIF(Ceres_FOUND)
#Build tests
-#===============EXAMPLE=========================
+#========================================
IF(BUILD_TESTS)
MESSAGE(STATUS "Will build tests.")
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#Build demos
-#===============EXAMPLE=========================
+#========================================
IF(BUILD_DEMOS)
MESSAGE(STATUS "Will build demos.")
ADD_SUBDIRECTORY(demos)
@@ -447,73 +435,85 @@ ENDIF(BUILD_DEMOS)
#=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
+ LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+ ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
+)
+install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
+
+
+#Â Configure the package installation
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+ ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
+ ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+ INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+ PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+)
+
+install(
+ FILES
+ ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+ DESTINATION
+ ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+)
+
+# Specifies include directories to use when compiling the plugin target
+# This way, include_directories does not need to be called in plugins depending on this one
+target_include_directories(${PLUGIN_NAME} INTERFACE
+ $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
+)
-install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers
INSTALL(FILES ${HDRS_CAPTURE}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/capture)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
INSTALL(FILES ${HDRS_CERES_WRAPPER}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/ceres_wrapper)
INSTALL(FILES ${HDRS_COMMON}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/common)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/common)
INSTALL(FILES ${HDRS_FACTOR}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/factor)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/factor)
INSTALL(FILES ${HDRS_FEATURE}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/feature)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/feature)
INSTALL(FILES ${HDRS_FRAME}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/frame)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/frame)
INSTALL(FILES ${HDRS_HARDWARE}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/hardware)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/hardware)
INSTALL(FILES ${HDRS_LANDMARK}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/landmark)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/landmark)
INSTALL(FILES ${HDRS_MAP}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/map)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/map)
INSTALL(FILES ${HDRS_MATH}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/math)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/math)
INSTALL(FILES ${HDRS_PROBLEM}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/problem)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/problem)
INSTALL(FILES ${HDRS_PROCESSOR}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/processor)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/processor)
INSTALL(FILES ${HDRS_SENSOR}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/sensor)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_SOLVER}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/solver)
#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-# DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
+# DESTINATION ${INCLUDE_INSTALL_DIR}/core/solver_suitesparse)
INSTALL(FILES ${HDRS_STATE_BLOCK}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/state_block)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/state_block)
INSTALL(FILES ${HDRS_TRAJECTORY}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/trajectory)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/trajectory)
INSTALL(FILES ${HDRS_TREE_MANAGER}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/tree_manager)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/tree_manager)
INSTALL(FILES ${HDRS_UTILS}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/utils)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/utils)
INSTALL(FILES ${HDRS_YAML}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/yaml)
-FILE(WRITE ${PLUGIN_NAME}.found "")
-INSTALL(FILES ${PLUGIN_NAME}.found
- DESTINATION include/iri-algorithms/wolf/plugin_core)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
-
-#install Find*.cmake
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
- "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" @ONLY)
-
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake"
- "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" @ONLY)
+ DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/internal)
-INSTALL(FILES "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
-INSTALL(FILES "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
export(PACKAGE ${PLUGIN_NAME})
-FIND_PACKAGE(Doxygen)
+FIND_PACKAGE(Doxygen MODULE)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
IF (IRI_DOC_DIR)
diff --git a/cmake_modules/FindEigen3.cmake b/cmake_modules/FindEigen3.cmake
deleted file mode 100644
index 9e969786089ca8ea3801be8b084c51a5782f09b5..0000000000000000000000000000000000000000
--- a/cmake_modules/FindEigen3.cmake
+++ /dev/null
@@ -1,97 +0,0 @@
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-# find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-# EIGEN3_FOUND - system has eigen lib with correct version
-# EIGEN3_INCLUDE_DIR - the eigen include directory
-# EIGEN3_VERSION - eigen version
-#
-# This module reads hints about search locations from
-# the following enviroment variables:
-#
-# EIGEN3_ROOT
-# EIGEN3_ROOT_DIR
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
- if(NOT Eigen3_FIND_VERSION_MAJOR)
- set(Eigen3_FIND_VERSION_MAJOR 2)
- endif(NOT Eigen3_FIND_VERSION_MAJOR)
- if(NOT Eigen3_FIND_VERSION_MINOR)
- set(Eigen3_FIND_VERSION_MINOR 91)
- endif(NOT Eigen3_FIND_VERSION_MINOR)
- if(NOT Eigen3_FIND_VERSION_PATCH)
- set(Eigen3_FIND_VERSION_PATCH 0)
- endif(NOT Eigen3_FIND_VERSION_PATCH)
-
- set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
- file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
- string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
- set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
- string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
- set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
- string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
- set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
- set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
- if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
- set(EIGEN3_VERSION_OK FALSE)
- else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
- set(EIGEN3_VERSION_OK TRUE)
- endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
- if(NOT EIGEN3_VERSION_OK)
-
- message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
- "but at least version ${Eigen3_FIND_VERSION} is required")
- endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
- # in cache already
- _eigen3_check_version()
- set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
- # search first if an Eigen3Config.cmake is available in the system,
- # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
- # the script will work as usual
- find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
-
- if(NOT EIGEN3_INCLUDE_DIR)
- find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
- HINTS
- ENV EIGEN3_ROOT
- ENV EIGEN3_ROOT_DIR
- PATHS
- ${CMAKE_INSTALL_PREFIX}/include
- ${KDE4_INCLUDE_DIR}
- PATH_SUFFIXES eigen3 eigen
- )
- endif(NOT EIGEN3_INCLUDE_DIR)
-
- if(EIGEN3_INCLUDE_DIR)
- _eigen3_check_version()
- endif(EIGEN3_INCLUDE_DIR)
-
- include(FindPackageHandleStandardArgs)
- find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
- mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
-
diff --git a/cmake_modules/FindGlog.cmake b/cmake_modules/FindGlog.cmake
deleted file mode 100644
index 979dceda4b8ec5e1a5457f4e32dbdc9a27834a1e..0000000000000000000000000000000000000000
--- a/cmake_modules/FindGlog.cmake
+++ /dev/null
@@ -1,346 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2015 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# 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.
-#
-# Author: alexs.mac@gmail.com (Alex Stewart)
-#
-
-# FindGlog.cmake - Find Google glog logging library.
-#
-# This module defines the following variables:
-#
-# GLOG_FOUND: TRUE iff glog is found.
-# GLOG_INCLUDE_DIRS: Include directories for glog.
-# GLOG_LIBRARIES: Libraries required to link glog.
-# FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION: True iff the version of glog found
-# was built & installed / exported
-# as a CMake package.
-#
-# The following variables control the behaviour of this module:
-#
-# GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
-# then prefer using an exported CMake configuration
-# generated by glog > 0.3.4 over searching for the
-# glog components manually. Otherwise (FALSE)
-# ignore any exported glog CMake configurations and
-# always perform a manual search for the components.
-# Default: TRUE iff user does not define this variable
-# before we are called, and does NOT specify either
-# GLOG_INCLUDE_DIR_HINTS or GLOG_LIBRARY_DIR_HINTS
-# otherwise FALSE.
-# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to
-# search for glog includes, e.g: /timbuktu/include.
-# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to
-# search for glog libraries, e.g: /timbuktu/lib.
-#
-# The following variables are also defined by this module, but in line with
-# CMake recommended FindPackage() module style should NOT be referenced directly
-# by callers (use the plural variables detailed above instead). These variables
-# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
-# are NOT re-called (i.e. search for library is not repeated) if these variables
-# are set with valid values _in the CMake cache_. This means that if these
-# variables are set directly in the cache, either by the user in the CMake GUI,
-# or by the user passing -DVAR=VALUE directives to CMake when called (which
-# explicitly defines a cache variable), then they will be used verbatim,
-# bypassing the HINTS variables and other hard-coded search locations.
-#
-# GLOG_INCLUDE_DIR: Include directory for glog, not including the
-# include directory of any dependencies.
-# GLOG_LIBRARY: glog library, not including the libraries of any
-# dependencies.
-
-# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
-# FindGlog was invoked.
-macro(GLOG_RESET_FIND_LIBRARY_PREFIX)
- if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)
- set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
- endif()
-endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)
-
-# Called if we failed to find glog or any of it's required dependencies,
-# unsets all public (designed to be used externally) variables and reports
-# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
-macro(GLOG_REPORT_NOT_FOUND REASON_MSG)
- unset(GLOG_FOUND)
- unset(GLOG_INCLUDE_DIRS)
- unset(GLOG_LIBRARIES)
- # Make results of search visible in the CMake GUI if glog has not
- # been found so that user does not have to toggle to advanced view.
- mark_as_advanced(CLEAR GLOG_INCLUDE_DIR
- GLOG_LIBRARY)
-
- glog_reset_find_library_prefix()
-
- # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
- # use the camelcase library name, not uppercase.
- if (Glog_FIND_QUIETLY)
- message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})
- elseif (Glog_FIND_REQUIRED)
- message(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
- else()
- # Neither QUIETLY nor REQUIRED, use no priority which emits a message
- # but continues configuration and allows generation.
- message("-- Failed to find glog - " ${REASON_MSG} ${ARGN})
- endif ()
- return()
-endmacro(GLOG_REPORT_NOT_FOUND)
-
-# Protect against any alternative find_package scripts for this library having
-# been called previously (in a client project) which set GLOG_FOUND, but not
-# the other variables we require / set here which could cause the search logic
-# here to fail.
-unset(GLOG_FOUND)
-
-# -----------------------------------------------------------------
-# By default, if the user has expressed no preference for using an exported
-# glog CMake configuration over performing a search for the installed
-# components, and has not specified any hints for the search locations, then
-# prefer a glog exported configuration if available.
-if (NOT DEFINED GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION
- AND NOT GLOG_INCLUDE_DIR_HINTS
- AND NOT GLOG_LIBRARY_DIR_HINTS)
- message(STATUS "No preference for use of exported glog CMake configuration "
- "set, and no hints for include/library directories provided. "
- "Defaulting to preferring an installed/exported glog CMake configuration "
- "if available.")
- set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
-endif()
-
-if (GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
- # Try to find an exported CMake configuration for glog, as generated by
- # glog versions > 0.3.4
- #
- # We search twice, s/t we can invert the ordering of precedence used by
- # find_package() for exported package build directories, and installed
- # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
- # respectively in [1].
- #
- # By default, exported build directories are (in theory) detected first, and
- # this is usually the case on Windows. However, on OS X & Linux, the install
- # path (/usr/local) is typically present in the PATH environment variable
- # which is checked in item 4) in [1] (i.e. before both of the above, unless
- # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
- # packages are usually detected in preference to exported package build
- # directories.
- #
- # To ensure a more consistent response across all OSs, and as users usually
- # want to prefer an installed version of a package over a locally built one
- # where both exist (esp. as the exported build directory might be removed
- # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
- # means any build directories exported by the user are ignored, and thus
- # installed directories are preferred. If this fails to find the package
- # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
- # exported build directories will now be detected.
- #
- # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
- # is item 5) in [1]), to not preferentially use projects that were built
- # recently with the CMake GUI to ensure that we always prefer an installed
- # version if available.
- #
- # NOTE: We use the NAMES option as glog erroneously uses 'google-glog' as its
- # project name when built with CMake, but exports itself as just 'glog'.
- # On Linux/OS X this does not break detection as the project name is
- # not used as part of the install path for the CMake package files,
- # e.g. /usr/local/lib/cmake/glog, where the <glog> suffix is hardcoded
- # in glog's CMakeLists. However, on Windows the project name *is*
- # part of the install prefix: C:/Program Files/google-glog/[include,lib].
- # However, by default CMake checks:
- # C:/Program Files/<FIND_PACKAGE_ARGUMENT_NAME='glog'> which does not
- # exist and thus detection fails. Thus we use the NAMES to force the
- # search to use both google-glog & glog.
- #
- # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
- find_package(glog QUIET
- NAMES google-glog glog
- NO_MODULE
- NO_CMAKE_PACKAGE_REGISTRY
- NO_CMAKE_BUILDS_PATH)
- if (glog_FOUND)
- message(STATUS "Found installed version of glog: ${glog_DIR}")
- else()
- # Failed to find an installed version of glog, repeat search allowing
- # exported build directories.
- message(STATUS "Failed to find installed glog CMake configuration, "
- "searching for glog build directories exported with CMake.")
- # Again pass NO_CMAKE_BUILDS_PATH, as we know that glog is exported and
- # do not want to treat projects built with the CMake GUI preferentially.
- find_package(glog QUIET
- NAMES google-glog glog
- NO_MODULE
- NO_CMAKE_BUILDS_PATH)
- if (glog_FOUND)
- message(STATUS "Found exported glog build directory: ${glog_DIR}")
- endif(glog_FOUND)
- endif(glog_FOUND)
-
- set(FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION ${glog_FOUND})
-
- if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
- message(STATUS "Detected glog version: ${glog_VERSION}")
- set(GLOG_FOUND ${glog_FOUND})
- # glog wraps the include directories into the exported glog::glog target.
- set(GLOG_INCLUDE_DIR "")
- set(GLOG_LIBRARY glog::glog)
- else (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
- message(STATUS "Failed to find an installed/exported CMake configuration "
- "for glog, will perform search for installed glog components.")
- endif (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
-endif(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
-
-if (NOT GLOG_FOUND)
- # Either failed to find an exported glog CMake configuration, or user
- # told us not to use one. Perform a manual search for all glog components.
-
- # Handle possible presence of lib prefix for libraries on MSVC, see
- # also GLOG_RESET_FIND_LIBRARY_PREFIX().
- if (MSVC)
- # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
- # s/t we can set it back before returning.
- set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
- # The empty string in this list is important, it represents the case when
- # the libraries have no prefix (shared libraries / DLLs).
- set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
- endif (MSVC)
-
- # Search user-installed locations first, so that we prefer user installs
- # to system installs where both exist.
- list(APPEND GLOG_CHECK_INCLUDE_DIRS
- /usr/local/include
- /usr/local/homebrew/include # Mac OS X
- /opt/local/var/macports/software # Mac OS X.
- /opt/local/include
- /usr/include)
- # Windows (for C:/Program Files prefix).
- list(APPEND GLOG_CHECK_PATH_SUFFIXES
- glog/include
- glog/Include
- Glog/include
- Glog/Include
- google-glog/include # CMake installs with project name prefix.
- google-glog/Include)
-
- list(APPEND GLOG_CHECK_LIBRARY_DIRS
- /usr/local/lib
- /usr/local/homebrew/lib # Mac OS X.
- /opt/local/lib
- /usr/lib)
- # Windows (for C:/Program Files prefix).
- list(APPEND GLOG_CHECK_LIBRARY_SUFFIXES
- glog/lib
- glog/Lib
- Glog/lib
- Glog/Lib
- google-glog/lib # CMake installs with project name prefix.
- google-glog/Lib)
-
- # Search supplied hint directories first if supplied.
- find_path(GLOG_INCLUDE_DIR
- NAMES glog/logging.h
- HINTS ${GLOG_INCLUDE_DIR_HINTS}
- PATHS ${GLOG_CHECK_INCLUDE_DIRS}
- PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})
- if (NOT GLOG_INCLUDE_DIR OR
- NOT EXISTS ${GLOG_INCLUDE_DIR})
- glog_report_not_found(
- "Could not find glog include directory, set GLOG_INCLUDE_DIR "
- "to directory containing glog/logging.h")
- endif (NOT GLOG_INCLUDE_DIR OR
- NOT EXISTS ${GLOG_INCLUDE_DIR})
-
- find_library(GLOG_LIBRARY NAMES glog
- HINTS ${GLOG_LIBRARY_DIR_HINTS}
- PATHS ${GLOG_CHECK_LIBRARY_DIRS}
- PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})
- if (NOT GLOG_LIBRARY OR
- NOT EXISTS ${GLOG_LIBRARY})
- glog_report_not_found(
- "Could not find glog library, set GLOG_LIBRARY "
- "to full path to libglog.")
- endif (NOT GLOG_LIBRARY OR
- NOT EXISTS ${GLOG_LIBRARY})
-
- # Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets
- # if called.
- set(GLOG_FOUND TRUE)
-
- # Glog does not seem to provide any record of the version in its
- # source tree, thus cannot extract version.
-
- # Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and
- # thus FIND_[PATH/LIBRARY] are not called, but specified locations are
- # invalid, otherwise we would report the library as found.
- if (GLOG_INCLUDE_DIR AND
- NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
- glog_report_not_found(
- "Caller defined GLOG_INCLUDE_DIR:"
- " ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")
- endif (GLOG_INCLUDE_DIR AND
- NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
- # TODO: This regex for glog library is pretty primitive, we use lowercase
- # for comparison to handle Windows using CamelCase library names, could
- # this check be better?
- string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY)
- if (GLOG_LIBRARY AND
- NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
- glog_report_not_found(
- "Caller defined GLOG_LIBRARY: "
- "${GLOG_LIBRARY} does not match glog.")
- endif (GLOG_LIBRARY AND
- NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
-
- glog_reset_find_library_prefix()
-
-endif(NOT GLOG_FOUND)
-
-# Set standard CMake FindPackage variables if found.
-if (GLOG_FOUND)
- set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
- set(GLOG_LIBRARIES ${GLOG_LIBRARY})
-endif (GLOG_FOUND)
-
-# If we are using an exported CMake glog target, the include directories are
-# wrapped into the target itself, and do not have to be (and are not)
-# separately specified. In which case, we should not add GLOG_INCLUDE_DIRS
-# to the list of required variables in order that glog be reported as found.
-if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
- set(GLOG_REQUIRED_VARIABLES GLOG_LIBRARIES)
-else()
- set(GLOG_REQUIRED_VARIABLES GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
-endif()
-
-# Handle REQUIRED / QUIET optional arguments.
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(Glog DEFAULT_MSG
- ${GLOG_REQUIRED_VARIABLES})
-
-# Only mark internal variables as advanced if we found glog, otherwise
-# leave them visible in the standard GUI for the user to set manually.
-if (GLOG_FOUND)
- mark_as_advanced(FORCE GLOG_INCLUDE_DIR
- GLOG_LIBRARY
- glog_DIR) # Autogenerated by find_package(glog)
-endif (GLOG_FOUND)
diff --git a/cmake_modules/FindYamlCpp.cmake b/cmake_modules/FindYamlCpp.cmake
deleted file mode 100644
index 196c4754e2787a9fa4f47eb8716fd2525bc84fd4..0000000000000000000000000000000000000000
--- a/cmake_modules/FindYamlCpp.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Locate yaml-cpp
-#
-# This module defines
-# YAMLCPP_FOUND, if false, do not try to link to yaml-cpp
-# YAMLCPP_LIBNAME, name of yaml library
-# YAMLCPP_LIBRARY, where to find yaml-cpp
-# YAMLCPP_LIBRARY_RELEASE, where to find Release or RelWithDebInfo yaml-cpp
-# YAMLCPP_LIBRARY_DEBUG, where to find Debug yaml-cpp
-# YAMLCPP_INCLUDE_DIR, where to find yaml.h
-# YAMLCPP_LIBRARY_DIR, the directories to find YAMLCPP_LIBRARY
-#
-# By default, the dynamic libraries of yaml-cpp will be found. To find the static ones instead,
-# you must set the YAMLCPP_USE_STATIC_LIBS variable to TRUE before calling find_package(YamlCpp ...)
-
-# attempt to find static library first if this is set
-if(YAMLCPP_USE_STATIC_LIBS)
- set(YAMLCPP_STATIC libyaml-cpp.a)
- set(YAMLCPP_STATIC_DEBUG libyaml-cpp-dbg.a)
-endif()
-
-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows") ### Set Yaml libary name for Windows
- set(YAMLCPP_LIBNAME "libyaml-cppmd" CACHE STRING "Name of YAML library")
- set(YAMLCPP_LIBNAME optimized ${YAMLCPP_LIBNAME} debug ${YAMLCPP_LIBNAME}d)
-else() ### Set Yaml libary name for Unix, Linux, OS X, etc
- set(YAMLCPP_LIBNAME "yaml-cpp" CACHE STRING "Name of YAML library")
-endif()
-
-# find the yaml-cpp include directory
-find_path(YAMLCPP_INCLUDE_DIR
- NAMES yaml-cpp/yaml.h
- PATH_SUFFIXES include
- PATHS
- ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/include
- ~/Library/Frameworks/yaml-cpp/include/
- /Library/Frameworks/yaml-cpp/include/
- /usr/local/include/
- /usr/include/
- /sw/yaml-cpp/ # Fink
- /opt/local/yaml-cpp/ # DarwinPorts
- /opt/csw/yaml-cpp/ # Blastwave
- /opt/yaml-cpp/)
-
-# find the release yaml-cpp library
-find_library(YAMLCPP_LIBRARY_RELEASE
- NAMES ${YAMLCPP_STATIC} yaml-cpp libyaml-cppmd.lib
- PATH_SUFFIXES lib64 lib Release RelWithDebInfo
- PATHS
- ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/
- ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/build
- ~/Library/Frameworks
- /Library/Frameworks
- /usr/local
- /usr
- /sw
- /opt/local
- /opt/csw
- /opt)
-
-# find the debug yaml-cpp library
-find_library(YAMLCPP_LIBRARY_DEBUG
- NAMES ${YAMLCPP_STATIC_DEBUG} yaml-cpp-dbg libyaml-cppmdd.lib
- PATH_SUFFIXES lib64 lib Debug
- PATHS
- ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/
- ${PROJECT_SOURCE_DIR}/dependencies/yaml-cpp-0.5.1/build
- ~/Library/Frameworks
- /Library/Frameworks
- /usr/local
- /usr
- /sw
- /opt/local
- /opt/csw
- /opt)
-
-# set library vars
-set(YAMLCPP_LIBRARY ${YAMLCPP_LIBRARY_RELEASE})
-if(CMAKE_BUILD_TYPE MATCHES Debug AND EXISTS ${YAMLCPP_LIBRARY_DEBUG})
- set(YAMLCPP_LIBRARY ${YAMLCPP_LIBRARY_DEBUG})
-endif()
-
-get_filename_component(YAMLCPP_LIBRARY_RELEASE_DIR ${YAMLCPP_LIBRARY_RELEASE} PATH)
-get_filename_component(YAMLCPP_LIBRARY_DEBUG_DIR ${YAMLCPP_LIBRARY_DEBUG} PATH)
-set(YAMLCPP_LIBRARY_DIR ${YAMLCPP_LIBRARY_RELEASE_DIR} ${YAMLCPP_LIBRARY_DEBUG_DIR})
-
-# handle the QUIETLY and REQUIRED arguments and set YAMLCPP_FOUND to TRUE if all listed variables are TRUE
-include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(YamlCpp DEFAULT_MSG
- YAMLCPP_INCLUDE_DIR
- YAMLCPP_LIBRARY
- YAMLCPP_LIBRARY_DIR)
-mark_as_advanced(
- YAMLCPP_INCLUDE_DIR
- YAMLCPP_LIBRARY_DIR
- YAMLCPP_LIBRARY
- YAMLCPP_LIBRARY_RELEASE
- YAMLCPP_LIBRARY_RELEASE_DIR
- YAMLCPP_LIBRARY_DEBUG
- YAMLCPP_LIBRARY_DEBUG_DIR)
-
diff --git a/cmake_modules/wolfcoreConfig.cmake b/cmake_modules/wolfcoreConfig.cmake
deleted file mode 100644
index 5204cd493ca0740f38d99aef942a7df32ad7f71d..0000000000000000000000000000000000000000
--- a/cmake_modules/wolfcoreConfig.cmake
+++ /dev/null
@@ -1,104 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
- wolfcore_INCLUDE_DIRS
- NAMES wolfcore.found
- PATHS /usr/local/include/iri-algorithms/wolf/plugin_core)
-IF(wolfcore_INCLUDE_DIRS)
- MESSAGE("Found wolf core include dirs: ${wolfcore_INCLUDE_DIRS}")
-ELSE(wolfcore_INCLUDE_DIRS)
- MESSAGE("Couldn't find wolf core include dirs")
-ENDIF(wolfcore_INCLUDE_DIRS)
-
-FIND_LIBRARY(
- wolfcore_LIBRARIES
- NAMES libwolfcore.so libwolfcore.dylib
- PATHS /usr/local/lib)
-IF(wolfcore_LIBRARIES)
- MESSAGE("Found wolf core lib: ${wolfcore_LIBRARIES}")
-ELSE(wolfcore_LIBRARIES)
- MESSAGE("Couldn't find wolf core lib")
-ENDIF(wolfcore_LIBRARIES)
-
-IF (wolfcore_INCLUDE_DIRS AND wolfcore_LIBRARIES)
- SET(wolfcore_FOUND TRUE)
- ELSE(wolfcore_INCLUDE_DIRS AND wolfcore_LIBRARIES)
- set(wolfcore_FOUND FALSE)
-ENDIF (wolfcore_INCLUDE_DIRS AND wolfcore_LIBRARIES)
-
-IF (wolfcore_FOUND)
- IF (NOT wolfcore_FIND_QUIETLY)
- MESSAGE(STATUS "Found wolf core: ${wolfcore_LIBRARIES}")
- ENDIF (NOT wolfcore_FIND_QUIETLY)
-ELSE (wolfcore_FOUND)
- IF (wolfcore_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find wolf core")
- ENDIF (wolfcore_FIND_REQUIRED)
-ENDIF (wolfcore_FOUND)
-
-
-macro(wolfcore_report_not_found REASON_MSG)
- set(wolfcore_FOUND FALSE)
- unset(wolfcore_INCLUDE_DIRS)
- unset(wolfcore_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 (wolfcore_FIND_QUIETLY)
- message(STATUS "Failed to find wolf core - " ${REASON_MSG} ${ARGN})
- elseif (wolfcore_FIND_REQUIRED)
- message(FATAL_ERROR "Failed to find wolf core - " ${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 core - " ${REASON_MSG} ${ARGN})
- endif ()
- return()
-endmacro(wolfcore_report_not_found)
-
-if(NOT wolfcore_FOUND)
- wolfcore_report_not_found("Something went wrong while setting up wolf.")
-else (NOT wolfcore_FOUND)
- # Set the include directories for wolf core (itself).
- set(wolfcore_FOUND TRUE)
-
- # Now we gather all the required dependencies for Wolf
-
- get_filename_component(WOLFCORE_CURRENT_CONFIG_DIR
- "${CMAKE_CURRENT_LIST_FILE}" PATH)
-
- SET(BACKUP_MODULE_PATH ${CMAKE_MODULE_PATH})
- LIST(APPEND CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${WOLFCORE_CURRENT_CONFIG_DIR})
-
- FIND_PACKAGE(Threads REQUIRED)
- list(APPEND wolfcore_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
-
- FIND_PACKAGE(Ceres REQUIRED)
- list(APPEND wolfcore_INCLUDE_DIRS ${CERES_INCLUDE_DIRS})
- list(APPEND wolfcore_LIBRARIES ${CERES_LIBRARIES})
-
- # YAML with yaml-cpp
- FIND_PACKAGE(YamlCpp REQUIRED)
- list(APPEND wolfcore_INCLUDE_DIRS ${YAMLCPP_INCLUDE_DIRS})
- list(APPEND wolfcore_LIBRARIES ${YAMLCPP_LIBRARY})
-
- #Eigen
- # FIND_PACKAGE(Eigen3 REQUIRED)
- # list(APPEND wolfcore_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
-
- if(NOT Eigen3_FOUND)
- FIND_PACKAGE(Eigen3 REQUIRED)
- endif()
- if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
- message(FATAL_ERROR "Found Eigen ${EIGEN3_VERSION_STRING}. The minimum version required is Eigen 3.3")
- endif()
- list(APPEND wolfcore_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
-endif(NOT wolfcore_FOUND)
-SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})
-
-# provide both INCLUDE_DIR and INCLUDE_DIRS
-SET(wolfcore_INCLUDE_DIR ${wolfcore_INCLUDE_DIRS})
-# provide both LIBRARY and LIBRARIES
-SET(wolfcore_LIBRARY ${wolfcore_LIBRARIES})
diff --git a/cmake_modules/wolfcoreConfig.cmake.in b/cmake_modules/wolfcoreConfig.cmake.in
new file mode 100644
index 0000000000000000000000000000000000000000..735adef5984b0989b98947873a15e22a910172b4
--- /dev/null
+++ b/cmake_modules/wolfcoreConfig.cmake.in
@@ -0,0 +1,14 @@
+set(@PLUGIN_NAME@_VERSION 0.0.1)
+
+@PACKAGE_INIT@
+
+# forwards the correct parameters given to FIND_DEPENDENCIES
+include(CMakeFindDependencyMacro)
+FIND_DEPENDENCY(Threads REQUIRED)
+FIND_DEPENDENCY(Ceres REQUIRED)
+FIND_DEPENDENCY(Eigen3 3.3 REQUIRED)
+FIND_DEPENDENCY(yaml-cpp REQUIRED)
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
+
+check_required_components(@PLUGIN_NAME@)
\ No newline at end of file
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 1e18985f9a047dea575af0852b24eac6ff6305bd..790ec306644c12e607a4657859bedc8e360284aa 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -322,14 +322,20 @@ class Factory
Factory(const Factory&) = delete;
void operator=(Factory const&) = delete;
private:
- Factory() { }
+ Factory();
~Factory();
};
template<class TypeBase, typename... TypeInput>
-inline Factory<TypeBase, TypeInput...>::~Factory<TypeBase, TypeInput...>()
+inline Factory<TypeBase, TypeInput...>::Factory()
{
- std::cout << " Factory destructor " << this->getClass() << std::endl;
+ //std::cout << " Factory constructor " << this->getClass() << std::endl;
+}
+
+template<class TypeBase, typename... TypeInput>
+inline Factory<TypeBase, TypeInput...>::~Factory()
+{
+ //std::cout << " Factory destructor " << this->getClass() << std::endl;
}
template<class TypeBase, typename... TypeInput>
@@ -340,7 +346,7 @@ inline bool Factory<TypeBase, TypeInput...>::registerCreator(const std::string&
std::cout << std::setw(26) << std::left << get().getClass() << " <-- registered " << _type << std::endl;
else
std::cout << std::setw(26) << std::left << get().getClass() << " X-- skipping " << _type << ": already registered." << std::endl;
-
+
return reg;
}
diff --git a/internal/config.h.in b/internal/config.h.in
index 7c0fe4756e443695c5450cfb46054e8b7cd107a7..8f0d62ec930e2db6e5f4bc874126b8e0787eb856 100644
--- a/internal/config.h.in
+++ b/internal/config.h.in
@@ -32,5 +32,6 @@
#cmakedefine _WOLF_TRACE
#define _WOLF_ROOT_DIR "${_WOLF_ROOT_DIR}"
+#define _WOLF_LIB_DIR "${_WOLF_LIB_DIR}"
#endif /* WOLF_INTERNAL_CONFIG_H_ */
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 604770acc4629ba97125e1da097d6e5871083983..6fe2afb34530e550d8a361e56bcaae2c07938349 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -100,8 +100,11 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
// Load plugins
auto loaders = std::vector<std::shared_ptr<Loader>>();
- std::string plugins_path;
- try
+ std::string plugins_path = _WOLF_LIB_DIR;
+ if (plugins_path.back() != '/'){
+ plugins_path += '/'; // only works for UNIX systems
+ }
+ /*try
{
plugins_path = _server.getParam<std::string>("plugins_path");
}
@@ -110,7 +113,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
WOLF_WARN(e.what());
WOLF_WARN("Setting '/usr/local/lib/' as plugins path...");
plugins_path="/usr/local/lib/";
- }
+ }*/
for (auto plugin_name : _server.getParam<std::vector<std::string>>("plugins"))
{
if (plugin_name == "core" or plugin_name == "wolf" or plugin_name == "") continue; // ignore plugin "core"
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index dd7732c47dbffb1e1e7e2502d0ecc78c60e9f926..6fa50395a7ee2af50d290b32e543b18bac534869 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,36 +1,7 @@
# Retrieve googletest from github & compile
add_subdirectory(gtest)
-
-## Added these two include_dirs: ######################
-#
-#CMAKE modules
-#SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
-#MESSAGE(STATUS ${CMAKE_MODULE_PATH})
-#
-# Include Eigen
-#FIND_PACKAGE(Eigen 3 REQUIRED)
-#INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
-#
-# Include Ceres
-#FIND_PACKAGE(Ceres QUIET) #Ceres is not required
-#IF(Ceres_FOUND)
-# INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
-#ENDIF(Ceres_FOUND)
-#
-## and now gtest_motion_2d works ######################
-
-
-# Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS})
-
-############# USE THIS TEST AS AN EXAMPLE #################
-# #
-# Create a specific test executable for gtest_example #
-wolf_add_gtest(gtest_example gtest_example.cpp) #
-target_link_libraries(gtest_example ${PLUGIN_NAME}) #
-# #
-###########################################################
+# Add here the source (.cpp) files in dummy folder
set(SRC_DUMMY
dummy/processor_tracker_feature_dummy.cpp
dummy/processor_tracker_landmark_dummy.cpp
@@ -38,274 +9,230 @@ set(SRC_DUMMY
)
add_library(dummy SHARED ${SRC_DUMMY})
target_link_libraries(dummy ${PLUGIN_NAME})
-################# ADD YOUR TESTS BELOW ####################
+
+############# USE THIS TEST AS AN EXAMPLE #################
+# #
+# Create a specific test executable for gtest_example #
+wolf_add_gtest(gtest_example gtest_example.cpp) #
# #
-# ==== IN ALPHABETICAL ORDER! ==== #
+# OPTIONAL: if the gtest depends on the dummy library #
+# (used for implementing pure virtual base classes), #
+# add a line #
+# target_link_libraries(gtest_example dummy) #
# #
+###########################################################
-# ------- First Core classes ----------
+################ ADD YOUR TESTS BELOW ####################
+# #
+# ==== IN ALPHABETICAL ORDER! ==== #
+# #
+##########################################################
+
+# ------- First Base classes ----------
# BufferFrame
wolf_add_gtest(gtest_buffer_frame gtest_buffer_frame.cpp)
-target_link_libraries(gtest_buffer_frame ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_buffer_frame PUBLIC dummy)
# CaptureBase class test
wolf_add_gtest(gtest_capture_base gtest_capture_base.cpp)
-target_link_libraries(gtest_capture_base ${PLUGIN_NAME})
# Converter from String to various types used by the parameters server
wolf_add_gtest(gtest_converter gtest_converter.cpp)
-target_link_libraries(gtest_converter ${PLUGIN_NAME})
# FactorBase class test
wolf_add_gtest(gtest_factor_base gtest_factor_base.cpp)
-target_link_libraries(gtest_factor_base ${PLUGIN_NAME})
# FactorAutodiff class test
wolf_add_gtest(gtest_factor_autodiff gtest_factor_autodiff.cpp)
-target_link_libraries(gtest_factor_autodiff ${PLUGIN_NAME})
# Factory test
wolf_add_gtest(gtest_factory gtest_factory.cpp)
-target_link_libraries(gtest_factory ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_factory PUBLIC dummy)
# FactoryStateBlock factory test
wolf_add_gtest(gtest_factory_state_block gtest_factory_state_block.cpp)
-target_link_libraries(gtest_factory_state_block ${PLUGIN_NAME})
+target_link_libraries(gtest_factory_state_block PUBLIC dummy)
# Node Emplace test
wolf_add_gtest(gtest_emplace gtest_emplace.cpp)
-target_link_libraries(gtest_emplace ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_emplace PUBLIC dummy)
# FeatureBase classes test
wolf_add_gtest(gtest_feature_base gtest_feature_base.cpp)
-target_link_libraries(gtest_feature_base ${PLUGIN_NAME})
# FrameBase classes test
wolf_add_gtest(gtest_frame_base gtest_frame_base.cpp)
-target_link_libraries(gtest_frame_base ${PLUGIN_NAME})
# GraphSearch class test
wolf_add_gtest(gtest_graph_search gtest_graph_search.cpp)
-target_link_libraries(gtest_graph_search ${PLUGIN_NAME})
# HasStateBlocks classes test
wolf_add_gtest(gtest_has_state_blocks gtest_has_state_blocks.cpp)
-target_link_libraries(gtest_has_state_blocks ${PLUGIN_NAME})
# IsMotion classes test
wolf_add_gtest(gtest_motion_provider gtest_motion_provider.cpp)
-target_link_libraries(gtest_motion_provider ${PLUGIN_NAME})
# LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
-target_link_libraries(gtest_local_param ${PLUGIN_NAME})
# Logging test
wolf_add_gtest(gtest_logging gtest_logging.cpp)
-target_link_libraries(gtest_logging ${PLUGIN_NAME})
# MotionBuffer class test
wolf_add_gtest(gtest_motion_buffer gtest_motion_buffer.cpp)
-target_link_libraries(gtest_motion_buffer ${PLUGIN_NAME})
# Parameters server
-wolf_add_gtest(gtest_param_server gtest_param_server.cpp ${CMAKE_CURRENT_LIST_DIR})
-target_link_libraries(gtest_param_server ${PLUGIN_NAME})
+wolf_add_gtest(gtest_param_server gtest_param_server.cpp)
# YAML parser
wolf_add_gtest(gtest_parser_yaml gtest_parser_yaml.cpp)
-target_link_libraries(gtest_parser_yaml ${PLUGIN_NAME})
# Problem class test
wolf_add_gtest(gtest_problem gtest_problem.cpp)
-target_link_libraries(gtest_problem ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_problem PUBLIC dummy)
# ProcessorBase class test
wolf_add_gtest(gtest_processor_base gtest_processor_base.cpp)
-target_link_libraries(gtest_processor_base ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_processor_base PUBLIC dummy)
# ProcessorMotion class test
wolf_add_gtest(gtest_processor_motion gtest_processor_motion.cpp)
-target_link_libraries(gtest_processor_motion ${PLUGIN_NAME})
# Rotation test
wolf_add_gtest(gtest_rotation gtest_rotation.cpp)
-target_link_libraries(gtest_rotation ${PLUGIN_NAME})
# SE3 test
wolf_add_gtest(gtest_SE3 gtest_SE3.cpp)
-target_link_libraries(gtest_SE3 ${PLUGIN_NAME})
# SE2 test
wolf_add_gtest(gtest_SE2 gtest_SE2.cpp)
-target_link_libraries(gtest_SE2 ${PLUGIN_NAME})
# SensorBase test
wolf_add_gtest(gtest_sensor_base gtest_sensor_base.cpp)
-target_link_libraries(gtest_sensor_base ${PLUGIN_NAME})
# shared_from_this test
wolf_add_gtest(gtest_shared_from_this gtest_shared_from_this.cpp)
-target_link_libraries(gtest_shared_from_this ${PLUGIN_NAME})
# SolverManager test
wolf_add_gtest(gtest_solver_manager gtest_solver_manager.cpp)
-target_link_libraries(gtest_solver_manager ${PLUGIN_NAME})
# SolverManagerMultithread test
wolf_add_gtest(gtest_solver_manager_multithread gtest_solver_manager_multithread.cpp)
-target_link_libraries(gtest_solver_manager_multithread ${PLUGIN_NAME})
# StateBlock class test
wolf_add_gtest(gtest_state_block gtest_state_block.cpp)
-target_link_libraries(gtest_state_block ${PLUGIN_NAME})
# StateBlock class test
wolf_add_gtest(gtest_state_composite gtest_state_composite.cpp)
-target_link_libraries(gtest_state_composite ${PLUGIN_NAME})
# TimeStamp class test
wolf_add_gtest(gtest_time_stamp gtest_time_stamp.cpp)
-target_link_libraries(gtest_time_stamp ${PLUGIN_NAME})
# TrackMatrix class test
wolf_add_gtest(gtest_track_matrix gtest_track_matrix.cpp)
-target_link_libraries(gtest_track_matrix ${PLUGIN_NAME})
# TrajectoryBase class test
wolf_add_gtest(gtest_trajectory gtest_trajectory.cpp)
-target_link_libraries(gtest_trajectory ${PLUGIN_NAME})
# TreeManager class test
wolf_add_gtest(gtest_tree_manager gtest_tree_manager.cpp)
-target_link_libraries(gtest_tree_manager ${PLUGIN_NAME})
# ------- Now Derived classes ----------
# FactorAbs(P/O/V) classes test
wolf_add_gtest(gtest_factor_absolute gtest_factor_absolute.cpp)
-target_link_libraries(gtest_factor_absolute ${PLUGIN_NAME})
# FactorAutodiffDistance3d test
wolf_add_gtest(gtest_factor_autodiff_distance_3d gtest_factor_autodiff_distance_3d.cpp)
-target_link_libraries(gtest_factor_autodiff_distance_3d ${PLUGIN_NAME})
# FactorBlockDifference class test
wolf_add_gtest(gtest_factor_block_difference gtest_factor_block_difference.cpp)
-target_link_libraries(gtest_factor_block_difference ${PLUGIN_NAME})
# FactorDiffDrive class test
wolf_add_gtest(gtest_factor_diff_drive gtest_factor_diff_drive.cpp)
-target_link_libraries(gtest_factor_diff_drive ${PLUGIN_NAME})
# FactorOdom2dAutodiff class test
wolf_add_gtest(gtest_factor_odom_2d_autodiff gtest_factor_odom_2d_autodiff.cpp)
-target_link_libraries(gtest_factor_odom_2d_autodiff ${PLUGIN_NAME})
# FactorPose2d class test
wolf_add_gtest(gtest_factor_pose_2d gtest_factor_pose_2d.cpp)
-target_link_libraries(gtest_factor_pose_2d ${PLUGIN_NAME})
# FactorPose3d class test
wolf_add_gtest(gtest_factor_pose_3d gtest_factor_pose_3d.cpp)
-target_link_libraries(gtest_factor_pose_3d ${PLUGIN_NAME})
# FactorRelativePose2d class test
wolf_add_gtest(gtest_factor_relative_pose_2d gtest_factor_relative_pose_2d.cpp)
-target_link_libraries(gtest_factor_relative_pose_2d ${PLUGIN_NAME})
# FactorRelativePose2dWithExtrinsics class test
wolf_add_gtest(gtest_factor_relative_pose_2d_with_extrinsics gtest_factor_relative_pose_2d_with_extrinsics.cpp)
-target_link_libraries(gtest_factor_relative_pose_2d_with_extrinsics ${PLUGIN_NAME})
# FactorRelativePose3d class test
wolf_add_gtest(gtest_factor_relative_pose_3d gtest_factor_relative_pose_3d.cpp)
-target_link_libraries(gtest_factor_relative_pose_3d ${PLUGIN_NAME})
# FactorRelativePose3dWithExtrinsics class test
wolf_add_gtest(gtest_factor_relative_pose_3d_with_extrinsics gtest_factor_relative_pose_3d_with_extrinsics.cpp)
-target_link_libraries(gtest_factor_relative_pose_3d_with_extrinsics ${PLUGIN_NAME})
# FactorVelocityLocalDirection3d class test
wolf_add_gtest(gtest_factor_velocity_local_direction_3d gtest_factor_velocity_local_direction_3d.cpp)
-target_link_libraries(gtest_factor_velocity_local_direction_3d ${PLUGIN_NAME})
# MakePosDef function test
wolf_add_gtest(gtest_make_posdef gtest_make_posdef.cpp)
-target_link_libraries(gtest_make_posdef ${PLUGIN_NAME})
# Map yaml save/load test
wolf_add_gtest(gtest_map_yaml gtest_map_yaml.cpp)
-target_link_libraries(gtest_map_yaml ${PLUGIN_NAME})
# Parameter prior test
wolf_add_gtest(gtest_param_prior gtest_param_prior.cpp)
-target_link_libraries(gtest_param_prior ${PLUGIN_NAME})
# ProcessorFixedWingModel class test
wolf_add_gtest(gtest_processor_fixed_wing_model gtest_processor_fixed_wing_model.cpp)
-target_link_libraries(gtest_processor_fixed_wing_model ${PLUGIN_NAME})
# ProcessorDiffDrive class test
wolf_add_gtest(gtest_processor_diff_drive gtest_processor_diff_drive.cpp)
-target_link_libraries(gtest_processor_diff_drive ${PLUGIN_NAME})
# ProcessorLoopClosure class test
wolf_add_gtest(gtest_processor_loop_closure gtest_processor_loop_closure.cpp)
-target_link_libraries(gtest_processor_loop_closure ${PLUGIN_NAME})
# ProcessorFrameNearestNeighborFilter class test
# wolf_add_gtest(gtest_processor_frame_nearest_neighbor_filter_2d gtest_processor_frame_nearest_neighbor_filter_2d.cpp)
-# target_link_libraries(gtest_processor_frame_nearest_neighbor_filter_2d ${PLUGIN_NAME})
# ProcessorMotion in 2d
wolf_add_gtest(gtest_odom_2d gtest_odom_2d.cpp)
-target_link_libraries(gtest_odom_2d ${PLUGIN_NAME})
# ProcessorOdom3d class test
wolf_add_gtest(gtest_processor_odom_3d gtest_processor_odom_3d.cpp)
-target_link_libraries(gtest_processor_odom_3d ${PLUGIN_NAME})
# FactorPose3dWithExtrinsics class test
wolf_add_gtest(gtest_processor_and_factor_pose_3d_with_extrinsics gtest_processor_and_factor_pose_3d_with_extrinsics.cpp)
-target_link_libraries(gtest_processor_and_factor_pose_3d_with_extrinsics ${PLUGIN_NAME})
-
# ProcessorTrackerFeatureDummy class test
wolf_add_gtest(gtest_processor_tracker_feature_dummy gtest_processor_tracker_feature_dummy.cpp)
-target_link_libraries(gtest_processor_tracker_feature_dummy ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_processor_tracker_feature_dummy PUBLIC dummy)
# ProcessorTrackerLandmarkDummy class test
wolf_add_gtest(gtest_processor_tracker_landmark_dummy gtest_processor_tracker_landmark_dummy.cpp)
-target_link_libraries(gtest_processor_tracker_landmark_dummy ${PLUGIN_NAME} dummy)
+target_link_libraries(gtest_processor_tracker_landmark_dummy PUBLIC dummy)
# SensorDiffDriveSelfcalib class test
wolf_add_gtest(gtest_sensor_diff_drive gtest_sensor_diff_drive.cpp)
-target_link_libraries(gtest_sensor_diff_drive ${PLUGIN_NAME})
# SensorDiffDriveSelfcalib class test
wolf_add_gtest(gtest_sensor_pose gtest_sensor_pose.cpp)
-target_link_libraries(gtest_sensor_pose ${PLUGIN_NAME})
IF (Ceres_FOUND)
# SolverCeres test
wolf_add_gtest(gtest_solver_ceres gtest_solver_ceres.cpp)
- target_link_libraries(gtest_solver_ceres ${PLUGIN_NAME})
# SolverCeresMultithread test
wolf_add_gtest(gtest_solver_ceres_multithread gtest_solver_ceres_multithread.cpp)
- target_link_libraries(gtest_solver_ceres_multithread ${PLUGIN_NAME})
ENDIF(Ceres_FOUND)
# TreeManagerSlidingWindow class test
wolf_add_gtest(gtest_tree_manager_sliding_window gtest_tree_manager_sliding_window.cpp)
-target_link_libraries(gtest_tree_manager_sliding_window ${PLUGIN_NAME})
# TreeManagerSlidingWindowDualRate class test
wolf_add_gtest(gtest_tree_manager_sliding_window_dual_rate gtest_tree_manager_sliding_window_dual_rate.cpp)
-target_link_libraries(gtest_tree_manager_sliding_window_dual_rate ${PLUGIN_NAME})
# yaml conversions
wolf_add_gtest(gtest_yaml_conversions gtest_yaml_conversions.cpp)
-target_link_libraries(gtest_yaml_conversions ${PLUGIN_NAME})
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 559756b02472653c655c44152c452ba8767ef6f2..2294c819aec95c1f2c6bed5c0e7b1d6cc857c614 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,65 +1,73 @@
-cmake_minimum_required(VERSION 2.8.8)
-project(gtest_builder C CXX)
+if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ message("CMake version less than 3.11.0")
-# We need thread support
-#find_package(Threads REQUIRED)
+ # Enable ExternalProject CMake module
+ include(ExternalProject)
-# Enable ExternalProject CMake module
-include(ExternalProject)
+ set(GTEST_FORCE_SHARED_CRT ON)
+ set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
-set(GTEST_FORCE_SHARED_CRT ON)
-set(GTEST_DISABLE_PTHREADS OFF)
+ # Download GoogleTest
+ ExternalProject_Add(googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG v1.8.x
+ # TIMEOUT 1 # We'll try this
+ CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+ -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+ -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+ -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+ -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+ -DBUILD_GTEST=ON
+ PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+ # Disable install step
+ INSTALL_COMMAND ""
+ UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+ )
-# For some reason I need to disable PTHREADS
-# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-# This is a known issue for MinGW :
-# https://github.com/google/shaderc/pull/174
-#if(MINGW)
- set(GTEST_DISABLE_PTHREADS ON)
-#endif()
+ # Get GTest source and binary directories from CMake project
-# Download GoogleTest
-ExternalProject_Add(googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x
- # TIMEOUT 1 # We'll try this
- CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
- -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
- -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
- -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
- -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
- -DBUILD_GTEST=ON
- PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
- # Disable install step
- INSTALL_COMMAND ""
- UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-)
+ # Specify include dir
+ ExternalProject_Get_Property(googletest source_dir)
+ set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-# Get GTest source and binary directories from CMake project
+ # Specify MainTest's link libraries
+ ExternalProject_Get_Property(googletest binary_dir)
+ set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-# Specify include dir
-ExternalProject_Get_Property(googletest source_dir)
-set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+ # Create a libgtest target to be used as a dependency by test programs
+ add_library(libgtest IMPORTED STATIC GLOBAL)
+ add_dependencies(libgtest googletest)
-# Specify MainTest's link libraries
-ExternalProject_Get_Property(googletest binary_dir)
-set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+ # Set libgtest properties
+ set_target_properties(libgtest PROPERTIES
+ "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+ "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+ )
-# Create a libgtest target to be used as a dependency by test programs
-add_library(libgtest IMPORTED STATIC GLOBAL)
-add_dependencies(libgtest googletest)
+else()
-# Set libgtest properties
-set_target_properties(libgtest PROPERTIES
- "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
- "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-)
+ message("CMake version equal or greater than 3.11.0")
+ include(FetchContent)
+
+ FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
+
+ SET(INSTALL_GTEST OFF) # Disable installation of googletest
+ FetchContent_MakeAvailable(googletest)
+
+endif()
+
function(wolf_add_gtest target)
add_executable(${target} ${ARGN})
- add_dependencies(${target} libgtest)
- target_link_libraries(${target} libgtest)
-
- #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ add_dependencies(${target} libgtest)
+ target_link_libraries(${target} PUBLIC libgtest ${PLUGIN_NAME})
+ target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
+ else()
+ target_link_libraries(${target} PUBLIC gtest_main ${PLUGIN_NAME})
+ endif()
add_test(NAME ${target} COMMAND ${target})
endfunction()