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Commit e79b7b58 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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simplify cmakelists

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Stage: license
    Stage: clang
      Stage: yaml_templates
        Stage: build_and_test
          Stage: deploy_plugins
            Stage: deploy_ros
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              CMakeLists.txt
              + 26
              − 258
              View file @ e79b7b58
              ...@@ -106,157 +106,9 @@ ENDIF() ...@@ -106,157 +106,9 @@ ENDIF()
              # Configure config.h # Configure config.h
              configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h") configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
              # ============ HEADERS ============
              SET(HDRS_CAPTURE
              include/${PROJECT_NAME}/capture/capture_base.h
              include/${PROJECT_NAME}/capture/capture_diff_drive.h
              include/${PROJECT_NAME}/capture/capture_landmarks_external.h
              include/${PROJECT_NAME}/capture/capture_motion.h
              include/${PROJECT_NAME}/capture/capture_odom_2d.h
              include/${PROJECT_NAME}/capture/capture_odom_3d.h
              include/${PROJECT_NAME}/capture/capture_pose.h
              include/${PROJECT_NAME}/capture/capture_void.h
              )
              SET(HDRS_COMMON
              include/${PROJECT_NAME}/common/factory.h
              include/${PROJECT_NAME}/common/node_base.h
              include/${PROJECT_NAME}/common/node_state_blocks.h
              include/${PROJECT_NAME}/common/time_stamp.h
              include/${PROJECT_NAME}/common/wolf.h
              )
              SET(HDRS_COMPOSITE
              include/${PROJECT_NAME}/composite/composite.h
              include/${PROJECT_NAME}/composite/prior_composite.h
              include/${PROJECT_NAME}/composite/type_composite.h
              include/${PROJECT_NAME}/composite/vector_composite.h
              )
              SET(HDRS_FACTOR
              include/${PROJECT_NAME}/factor/factor_analytic.h
              include/${PROJECT_NAME}/factor/factor_autodiff.h
              include/${PROJECT_NAME}/factor/factor_base.h
              include/${PROJECT_NAME}/factor/factor_block_absolute.h
              include/${PROJECT_NAME}/factor/factor_block_difference.h
              include/${PROJECT_NAME}/factor/factor_diff_drive.h
              include/${PROJECT_NAME}/factor/factor_distance_3d.h
              include/${PROJECT_NAME}/factor/factor_pose_2d.h
              include/${PROJECT_NAME}/factor/factor_pose_2d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_pose_3d.h
              include/${PROJECT_NAME}/factor/factor_pose_3d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_quaternion_absolute.h
              include/${PROJECT_NAME}/factor/factor_pose_3d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_relative_pose_2d.h
              include/${PROJECT_NAME}/factor/factor_relative_pose_2d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_relative_pose_3d.h
              include/${PROJECT_NAME}/factor/factor_relative_pose_3d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_relative_position_2d.h
              include/${PROJECT_NAME}/factor/factor_relative_position_2d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_relative_position_3d.h
              include/${PROJECT_NAME}/factor/factor_relative_position_3d_with_extrinsics.h
              include/${PROJECT_NAME}/factor/factor_velocity_local_direction_3d.h
              )
              SET(HDRS_FEATURE
              include/${PROJECT_NAME}/feature/feature_base.h
              include/${PROJECT_NAME}/feature/feature_diff_drive.h
              include/${PROJECT_NAME}/feature/feature_landmark_external.h
              include/${PROJECT_NAME}/feature/feature_match.h
              include/${PROJECT_NAME}/feature/feature_motion.h
              include/${PROJECT_NAME}/feature/feature_odom_2d.h
              include/${PROJECT_NAME}/feature/feature_pose.h
              )
              SET(HDRS_FRAME
              include/${PROJECT_NAME}/frame/frame_base.h
              )
              SET(HDRS_HARDWARE
              include/${PROJECT_NAME}/hardware/hardware_base.h
              )
              SET(HDRS_LANDMARK
              include/${PROJECT_NAME}/landmark/factory_landmark.h
              include/${PROJECT_NAME}/landmark/landmark_base.h
              include/${PROJECT_NAME}/landmark/landmark_match.h
              include/${PROJECT_NAME}/landmark/landmark.h
              )
              SET(HDRS_MATH
              include/${PROJECT_NAME}/math/SE2.h
              include/${PROJECT_NAME}/math/SE3.h
              include/${PROJECT_NAME}/math/rotations.h
              include/${PROJECT_NAME}/math/covariance.h
              )
              SET(HDRS_MAP
              include/${PROJECT_NAME}/map/factory_map.h
              include/${PROJECT_NAME}/map/map_base.h
              )
              SET(HDRS_PROBLEM
              include/${PROJECT_NAME}/problem/problem.h
              )
              SET(HDRS_PROCESSOR
              include/${PROJECT_NAME}/processor/buffer.h
              include/${PROJECT_NAME}/processor/factory_processor.h
              include/${PROJECT_NAME}/processor/motion_buffer.h
              include/${PROJECT_NAME}/processor/motion_provider.h
              include/${PROJECT_NAME}/processor/processor_base.h
              include/${PROJECT_NAME}/processor/processor_diff_drive.h
              include/${PROJECT_NAME}/processor/processor_fixed_wing_model.h
              include/${PROJECT_NAME}/processor/processor_landmark_external.h
              include/${PROJECT_NAME}/processor/processor_loop_closure.h
              include/${PROJECT_NAME}/processor/processor_motion.h
              include/${PROJECT_NAME}/processor/processor_odom_2d.h
              include/${PROJECT_NAME}/processor/processor_odom_3d.h
              include/${PROJECT_NAME}/processor/processor_pose.h
              include/${PROJECT_NAME}/processor/processor_tracker.h
              include/${PROJECT_NAME}/processor/processor_tracker_feature.h
              include/${PROJECT_NAME}/processor/processor_tracker_landmark.h
              include/${PROJECT_NAME}/processor/track_matrix.h
              )
              SET(HDRS_SENSOR
              include/${PROJECT_NAME}/sensor/factory_sensor.h
              include/${PROJECT_NAME}/sensor/sensor_base.h
              include/${PROJECT_NAME}/sensor/sensor_diff_drive.h
              include/${PROJECT_NAME}/sensor/sensor_motion_model.h
              include/${PROJECT_NAME}/sensor/sensor_odom.h
              include/${PROJECT_NAME}/sensor/sensor_pose.h
              )
              SET(HDRS_SOLVER
              include/${PROJECT_NAME}/solver/factory_solver.h
              include/${PROJECT_NAME}/solver/solver_manager.h
              )
              SET(HDRS_STATE_BLOCK
              include/${PROJECT_NAME}/state_block/factory_state_block.h
              include/${PROJECT_NAME}/state_block/local_parametrization_angle.h
              include/${PROJECT_NAME}/state_block/local_parametrization_base.h
              include/${PROJECT_NAME}/state_block/local_parametrization_homogeneous.h
              include/${PROJECT_NAME}/state_block/local_parametrization_quaternion.h
              include/${PROJECT_NAME}/state_block/state_angle.h
              include/${PROJECT_NAME}/state_block/state_block.h
              include/${PROJECT_NAME}/state_block/state_block_derived.h
              include/${PROJECT_NAME}/state_block/state_homogeneous_3d.h
              include/${PROJECT_NAME}/state_block/state_quaternion.h
              )
              SET(HDRS_TRAJECTORY
              include/${PROJECT_NAME}/trajectory/trajectory_base.h
              )
              SET(HDRS_TREE_MANAGER
              include/${PROJECT_NAME}/tree_manager/factory_tree_manager.h
              include/${PROJECT_NAME}/tree_manager/tree_manager_base.h
              include/${PROJECT_NAME}/tree_manager/tree_manager_sliding_window.h
              include/${PROJECT_NAME}/tree_manager/tree_manager_sliding_window_dual_rate.h
              )
              SET(HDRS_UTILS
              include/${PROJECT_NAME}/utils/check_log.h
              include/${PROJECT_NAME}/utils/eigen_assert.h
              include/${PROJECT_NAME}/utils/folder_registry.h
              include/${PROJECT_NAME}/utils/graph_search.h
              include/${PROJECT_NAME}/utils/loader.h
              include/${PROJECT_NAME}/utils/loader_utils.h
              include/${PROJECT_NAME}/utils/load_core.h
              include/${PROJECT_NAME}/utils/logging.h
              include/${PROJECT_NAME}/utils/singleton.h
              include/${PROJECT_NAME}/utils/string_utils.h
              include/${PROJECT_NAME}/utils/unused.h
              include/${PROJECT_NAME}/utils/utils_gtest.h
              )
              # ============ SOURCES ============ # ============ SOURCES ============
              SET(SRCS_CAPTURE SET(SRCS
              # capture
              src/capture/capture_base.cpp src/capture/capture_base.cpp
              src/capture/capture_diff_drive.cpp src/capture/capture_diff_drive.cpp
              src/capture/capture_landmarks_external.cpp src/capture/capture_landmarks_external.cpp
              ...@@ -265,45 +117,35 @@ SET(SRCS_CAPTURE ...@@ -265,45 +117,35 @@ SET(SRCS_CAPTURE
              src/capture/capture_odom_3d.cpp src/capture/capture_odom_3d.cpp
              src/capture/capture_pose.cpp src/capture/capture_pose.cpp
              src/capture/capture_void.cpp src/capture/capture_void.cpp
              ) # common
              SET(SRCS_COMMON
              src/common/node_base.cpp src/common/node_base.cpp
              src/common/node_state_blocks.cpp src/common/node_state_blocks.cpp
              src/common/time_stamp.cpp src/common/time_stamp.cpp
              ) # composite
              SET(SRCS_COMPOSITE
              src/composite/prior_composite.cpp src/composite/prior_composite.cpp
              src/composite/vector_composite.cpp src/composite/vector_composite.cpp
              ) # factor
              SET(SRCS_FACTOR
              src/factor/factor_analytic.cpp src/factor/factor_analytic.cpp
              src/factor/factor_base.cpp src/factor/factor_base.cpp
              ) # feature
              SET(SRCS_FEATURE
              src/feature/feature_base.cpp src/feature/feature_base.cpp
              src/feature/feature_diff_drive.cpp src/feature/feature_diff_drive.cpp
              src/feature/feature_landmark_external.cpp src/feature/feature_landmark_external.cpp
              src/feature/feature_motion.cpp src/feature/feature_motion.cpp
              src/feature/feature_odom_2d.cpp src/feature/feature_odom_2d.cpp
              src/feature/feature_pose.cpp src/feature/feature_pose.cpp
              ) # frame
              SET(SRCS_FRAME
              src/frame/frame_base.cpp src/frame/frame_base.cpp
              ) # hardware
              SET(SRCS_HARDWARE
              src/hardware/hardware_base.cpp src/hardware/hardware_base.cpp
              ) # landmark
              SET(SRCS_LANDMARK
              src/landmark/landmark_base.cpp src/landmark/landmark_base.cpp
              src/landmark/landmark.cpp src/landmark/landmark.cpp
              ) # map
              SET(SRCS_MAP
              src/map/map_base.cpp src/map/map_base.cpp
              ) # problem
              SET(SRCS_PROBLEM
              src/problem/problem.cpp src/problem/problem.cpp
              ) # processor
              SET(SRCS_PROCESSOR
              src/processor/motion_buffer.cpp src/processor/motion_buffer.cpp
              src/processor/motion_provider.cpp src/processor/motion_provider.cpp
              src/processor/processor_base.cpp src/processor/processor_base.cpp
              ...@@ -319,32 +161,26 @@ SET(SRCS_PROCESSOR ...@@ -319,32 +161,26 @@ SET(SRCS_PROCESSOR
              src/processor/processor_tracker_feature.cpp src/processor/processor_tracker_feature.cpp
              src/processor/processor_tracker_landmark.cpp src/processor/processor_tracker_landmark.cpp
              src/processor/track_matrix.cpp src/processor/track_matrix.cpp
              ) # sensor
              SET(SRCS_SENSOR
              src/sensor/sensor_base.cpp src/sensor/sensor_base.cpp
              src/sensor/sensor_diff_drive.cpp src/sensor/sensor_diff_drive.cpp
              src/sensor/sensor_motion_model.cpp src/sensor/sensor_motion_model.cpp
              src/sensor/sensor_odom.cpp src/sensor/sensor_odom.cpp
              src/sensor/sensor_pose.cpp src/sensor/sensor_pose.cpp
              ) # solver
              SET(SRCS_SOLVER
              src/solver/solver_manager.cpp src/solver/solver_manager.cpp
              ) # state_block
              SET(SRCS_STATE_BLOCK
              src/state_block/local_parametrization_base.cpp src/state_block/local_parametrization_base.cpp
              src/state_block/local_parametrization_homogeneous.cpp src/state_block/local_parametrization_homogeneous.cpp
              src/state_block/local_parametrization_quaternion.cpp src/state_block/local_parametrization_quaternion.cpp
              src/state_block/state_block.cpp src/state_block/state_block.cpp
              src/state_block/state_block_derived.cpp src/state_block/state_block_derived.cpp
              ) # trajectory
              SET(SRCS_TRAJECTORY
              src/trajectory/trajectory_base.cpp src/trajectory/trajectory_base.cpp
              ) # tree_manager
              SET(SRCS_TREE_MANAGER
              src/tree_manager/tree_manager_sliding_window.cpp src/tree_manager/tree_manager_sliding_window.cpp
              src/tree_manager/tree_manager_sliding_window_dual_rate.cpp src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
              ) # utils
              SET(SRCS_UTILS
              src/utils/check_log.cpp src/utils/check_log.cpp
              src/utils/graph_search.cpp src/utils/graph_search.cpp
              src/utils/loader.cpp src/utils/loader.cpp
              ...@@ -354,47 +190,15 @@ SET(SRCS_UTILS ...@@ -354,47 +190,15 @@ SET(SRCS_UTILS
              # ============ OPTIONALS ============ # ============ OPTIONALS ============
              IF (Ceres_FOUND) IF (Ceres_FOUND)
              SET(HDRS_SOLVER_CERES SET(SRCS ${SRCS}
              include/${PROJECT_NAME}/ceres_wrapper/cost_function_wrapper.h src/ceres_wrapper/solver_ceres.cpp
              include/${PROJECT_NAME}/ceres_wrapper/create_numeric_diff_cost_function.h src/ceres_wrapper/local_parametrization_wrapper.cpp
              include/${PROJECT_NAME}/ceres_wrapper/local_parametrization_wrapper.h src/solver/solver_manager.cpp
              include/${PROJECT_NAME}/ceres_wrapper/iteration_update_callback.h )
              include/${PROJECT_NAME}/ceres_wrapper/solver_ceres.h
              include/${PROJECT_NAME}/ceres_wrapper/wolf_jet.h
              include/${PROJECT_NAME}/solver/solver_manager.h
              )
              SET(SRCS_SOLVER_CERES
              src/ceres_wrapper/solver_ceres.cpp
              src/ceres_wrapper/local_parametrization_wrapper.cpp
              src/solver/solver_manager.cpp
              )
              ELSE(Ceres_FOUND)
              SET(HDRS_SOLVER_CERES)
              SET(SRCS_SOLVER_CERES)
              ENDIF(Ceres_FOUND) ENDIF(Ceres_FOUND)
              # create the shared library # create the shared library
              ADD_LIBRARY(${PLUGIN_NAME} ADD_LIBRARY(${PLUGIN_NAME} SHARED ${SRCS})
              SHARED
              ${SRCS_CAPTURE}
              ${SRCS_COMMON}
              ${SRCS_COMPOSITE}
              ${SRCS_FACTOR}
              ${SRCS_FEATURE}
              ${SRCS_FRAME}
              ${SRCS_HARDWARE}
              ${SRCS_LANDMARK}
              ${SRCS_MAP}
              ${SRCS_PROBLEM}
              ${SRCS_PROCESSOR}
              ${SRCS_SENSOR}
              ${SRCS_SOLVER}
              ${SRCS_SOLVER_CERES}
              ${SRCS_STATE_BLOCK}
              ${SRCS_TRAJECTORY}
              ${SRCS_TREE_MANAGER}
              ${SRCS_UTILS}
              )
              # Set compiler options # Set compiler options
              # ==================== # ====================
              ...@@ -466,44 +270,8 @@ target_include_directories(${PLUGIN_NAME} PUBLIC ...@@ -466,44 +270,8 @@ target_include_directories(${PLUGIN_NAME} PUBLIC
              ) )
              #install headers #install headers
              INSTALL(FILES ${HDRS_CAPTURE} INSTALL(DIRECTORY include/${PROJECT_NAME}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture) DESTINATION ${INCLUDE_INSTALL_DIR})
              INSTALL(FILES ${HDRS_COMMON}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/common)
              INSTALL(FILES ${HDRS_COMPOSITE}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/composite)
              INSTALL(FILES ${HDRS_FACTOR}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/factor)
              INSTALL(FILES ${HDRS_FEATURE}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/feature)
              INSTALL(FILES ${HDRS_FRAME}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/frame)
              INSTALL(FILES ${HDRS_HARDWARE}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/hardware)
              INSTALL(FILES ${HDRS_LANDMARK}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/landmark)
              INSTALL(FILES ${HDRS_MAP}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/map)
              INSTALL(FILES ${HDRS_MATH}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/math)
              INSTALL(FILES ${HDRS_PROBLEM}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/problem)
              INSTALL(FILES ${HDRS_PROCESSOR}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/processor)
              INSTALL(FILES ${HDRS_SENSOR}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
              INSTALL(FILES ${HDRS_SOLVER}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/solver)
              INSTALL(FILES ${HDRS_SOLVER_CERES}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/ceres_wrapper)
              INSTALL(FILES ${HDRS_STATE_BLOCK}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/state_block)
              INSTALL(FILES ${HDRS_TRAJECTORY}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/trajectory)
              INSTALL(FILES ${HDRS_TREE_MANAGER}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/tree_manager)
              INSTALL(FILES ${HDRS_UTILS}
              DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/utils)
              #install config.h #install config.h
              INSTALL(FILES ${WOLF_CONFIG_DIR}/config.h INSTALL(FILES ${WOLF_CONFIG_DIR}/config.h
              ......
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