From d91eb5c093be5b4bef7ae5ef44254885dfff065e Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 14 Nov 2019 11:37:58 +0100
Subject: [PATCH] Changed CI docker image and moved to Eigen 3.3
---
.gitlab-ci.yml | 2 +-
CMakeLists.txt | 6 +++++-
cmake_modules/wolfConfig.cmake | 3 +++
3 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 1477cdc24..dbf139b13 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,4 @@
-image: segaleran/ceres
+image: labrobotica/ceres:1.14
before_script:
- ls
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9c69b34a..d2dea5997 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -116,12 +116,16 @@ ENDIF(BUILD_DEMOS OR BUILD_TESTS)
#find dependencies.
-FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
FIND_PACKAGE(Threads REQUIRED)
FIND_PACKAGE(Ceres REQUIRED) #Ceres is not required
+FIND_PACKAGE(Eigen3 3.3 REQUIRED)
+if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
+ message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
+endif()
+
# YAML with yaml-cpp
FIND_PACKAGE(YamlCpp REQUIRED)
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 7556468eb..74ede89df 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -91,6 +91,9 @@ list(APPEND wolf_LIBRARIES ${YAMLCPP_LIBRARY})
if(NOT Eigen3_FOUND)
FIND_PACKAGE(Eigen3 REQUIRED)
endif()
+if(${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 wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})
--
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