[WIP] Separate core wolf files from the rest with SRCS_BASE and HDRS_BASE

I kind of organized the .h and .cpp fines in the src/CMakeFiles.txt so that:

• in HDRS_BASE and SRCS_BASE we have all files forming the wolf core
• in HDRS and SRCS we have all derived classes
• I also made or completed some groups, like SRCS_DATASSC

src/CMakeLists.txt

@@ -145,17 +145,48 @@ ENDIF(YAMLCPP_FOUND)
 
 #headers
 SET(HDRS_BASE
-    wolf.h)
+    capture_base.h
+    constraint_analytic.h
+    constraint_base.h
+    constraint_sparse.h
+    feature_base.h
+    feature_match.h
+    frame_base.h
+    hardware_base.h
+    landmark_base.h
+    landmark_match.h
+    local_parametrization_base.h
+    local_parametrization_quaternion.h
+    local_parametrization_homogeneous.h
+    logging.h
+    map_base.h
+    motion_buffer.h
+    node_base.h
+    pinholeTools.h
+    problem.h
+    processor_base.h
+    processor_factory.h
+    processor_motion.h
+    processor_tracker.h
+    processor_tracker_feature.h
+    processor_tracker_landmark.h
+    rotations.h
+    sensor_base.h
+    sensor_factory.h
+    state_block.h
+    state_homogeneous_3D.h
+    state_quaternion.h
+    time_stamp.h
+    trajectory_base.h
+    wolf.h
+    )
 
 SET(HDRS
-    capture_base.h
     capture_fix.h
     capture_gps_fix.h
     capture_motion.h
     capture_imu.h
     capture_void.h
-    constraint_analytic.h
-    constraint_base.h
     constraint_container.h
     constraint_corner_2D.h
     constraint_epipolar.h
@@ -172,63 +203,33 @@ SET(HDRS
     constraint_point_2D.h
     constraint_point_to_line_2D.h
     constraint_relative_2D_analytic.h
-    constraint_sparse.h
-    feature_base.h
     feature_corner_2D.h
     feature_gps_fix.h
     feature_gps_pseudorange.h
     feature_imu.h
-    feature_match.h
     feature_fix.h
     feature_odom_2D.h
     feature_polyline_2D.h
-    frame_base.h
     frame_imu.h
-    hardware_base.h
-    landmark_base.h
     landmark_corner_2D.h
     landmark_container.h
-    landmark_match.h
     landmark_point_3d.h
     landmark_line_2D.h
     landmark_polyline_2D.h
-    local_parametrization_base.h
-    local_parametrization_quaternion.h
-    local_parametrization_homogeneous.h
     local_parametrization_polyline_extreme.h
-    logging.h
-    map_base.h
-    motion_buffer.h
-    node_base.h
-    pinholeTools.h
-    problem.h
-    processor_base.h
     processor_image_params.h
     processor_imu.h
     processor_imu_UnitTester.h
-    processor_factory.h
-    processor_motion.h
     processor_odom_2D.h
     processor_odom_3D.h
-    processor_tracker.h
-    processor_tracker_feature.h
     processor_tracker_feature_dummy.h
-    processor_tracker_landmark.h
     processor_tracker_landmark_dummy.h
-    rotations.h
-    sensor_base.h
     sensor_camera.h
-    sensor_factory.h
     sensor_gps.h
     sensor_gps_fix.h
     sensor_imu.h
     sensor_odom_2D.h
     sensor_odom_3D.h
-    state_block.h
-    state_homogeneous_3D.h
-    state_quaternion.h
-    time_stamp.h
-    trajectory_base.h
     )
 
 
@@ -241,15 +242,35 @@ SET(HDRS_DTASSC
     )
 
 #sources
-SET(SRCS
+SET(SRCS_BASE
     capture_base.cpp
+    constraint_base.cpp
+    constraint_analytic.cpp
+    feature_base.cpp
+    frame_base.cpp
+    hardware_base.cpp
+    landmark_base.cpp
+    local_parametrization_base.cpp
+    local_parametrization_quaternion.cpp
+    local_parametrization_homogeneous.cpp
+    map_base.cpp
+    node_base.cpp
+    problem.cpp
+    processor_base.cpp
+    processor_motion.cpp
+    processor_tracker.cpp
+    processor_tracker_feature.cpp
+    processor_tracker_landmark.cpp
+    sensor_base.cpp
+    time_stamp.cpp
+    trajectory_base.cpp
+    )
+
+SET(SRCS
     capture_gps_fix.cpp
     capture_imu.cpp
     capture_fix.cpp
     capture_void.cpp
-    constraint_base.cpp
-    constraint_analytic.cpp
-    feature_base.cpp
     feature_corner_2D.cpp
     feature_gps_fix.cpp
     feature_gps_pseudorange.cpp
@@ -257,42 +278,28 @@ SET(SRCS
     feature_fix.cpp
     feature_odom_2D.cpp
     feature_polyline_2D.cpp
-    frame_base.cpp
     frame_imu.cpp
-    hardware_base.cpp
-    landmark_base.cpp
     landmark_corner_2D.cpp
     landmark_container.cpp
     landmark_point_3d.cpp
     landmark_line_2D.cpp
     landmark_polyline_2D.cpp
-    local_parametrization_base.cpp
-    local_parametrization_quaternion.cpp
-    local_parametrization_homogeneous.cpp
     local_parametrization_polyline_extreme.cpp
-    map_base.cpp
-    node_base.cpp
-    problem.cpp
-    processor_base.cpp
     processor_imu.cpp
     processor_imu_UnitTester.cpp
-    processor_motion.cpp
     processor_odom_2D.cpp
     processor_odom_3D.cpp
-    processor_tracker.cpp
-    processor_tracker_feature.cpp
     processor_tracker_feature_dummy.cpp
-    processor_tracker_landmark.cpp
     processor_tracker_landmark_dummy.cpp
-    sensor_base.cpp
     sensor_camera.cpp
     sensor_gps.cpp
     sensor_gps_fix.cpp
     sensor_imu.cpp
     sensor_odom_2D.cpp
     sensor_odom_3D.cpp
-    time_stamp.cpp
-    trajectory_base.cpp
+    )
+    
+SET(SRCS_DTASSC
     data_association/association_solver.cpp
     data_association/association_node.cpp
     data_association/association_tree.cpp
@@ -327,16 +334,16 @@ IF (laser_scan_utils_FOUND)
     SET(HDRS ${HDRS}
         capture_laser_2D.h
         sensor_laser_2D.h
+        processor_tracker_feature_corner.h
         processor_tracker_landmark_corner.h
         processor_tracker_landmark_polyline.h
-        processor_tracker_feature_corner.h
         )
     SET(SRCS ${SRCS}
         capture_laser_2D.cpp
         sensor_laser_2D.cpp
+        processor_tracker_feature_corner.cpp
         processor_tracker_landmark_corner.cpp
         processor_tracker_landmark_polyline.cpp
-        processor_tracker_feature_corner.cpp
         )
 ENDIF(laser_scan_utils_FOUND)
 
@@ -354,20 +361,20 @@ ENDIF(raw_gps_utils_FOUND)
 # OpenCV
 IF (OpenCV_FOUND)
     SET(HDRS ${HDRS}
+        active_search.h
         capture_image.h
         feature_point_image.h
         landmark_AHP.h
         processor_image_feature.h
         processor_image_landmark.h
-        active_search.h
         )
     SET(SRCS ${SRCS}
+        active_search.cpp
         capture_image.cpp
         feature_point_image.cpp
         landmark_AHP.cpp
         processor_image_feature.cpp
         processor_image_landmark.cpp
-        active_search.cpp
         )
 ENDIF(OpenCV_FOUND)
 
@@ -398,7 +405,7 @@ ENDIF(YAMLCPP_FOUND)
 
 
 # create the shared library
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS} ${SRCS_WRAPPER})
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS_BASE} ${SRCS} ${SRCS_DTASSC} ${SRCS_WRAPPER})
 
 #Link the created libraries
 #=============================================================