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CMakeLists.txt
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CMakeLists.txt
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# Copyright (c) 2013, Christian Gehring, Hannes Sommer, Paul Furgale, Remo Diethelm
# All rights reserved.
#
# 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 the Autonomous Systems Lab, ETH Zurich 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 Christian Gehring, Hannes Sommer, Paul Furgale,
# Remo Diethelm 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.
cmake_minimum_required(VERSION 3.16.3)
project(kindr)
if("$ENV{ROS_VERSION}" STREQUAL "1" OR USE_CMAKE)
# Check if catkin package should be built.
if(NOT USE_CMAKE)
find_package(catkin QUIET)
message(STATUS "Setting pure CMake build to false as not specified.")
set(USE_CMAKE false CACHE BOOL "Choose whether to build with CMake." FORCE)
set_property(CACHE USE_CMAKE PROPERTY STRINGS "True" "False")
endif()
if(catkin_FOUND AND NOT USE_CMAKE)
message(STATUS "Building kindr as a catkin package.")
set(BUILD_CATKIN_PACKAGE true)
set(BUILD_TEST false)
else()
message(STATUS "Building kindr as a cmake package.")
set(BUILD_CATKIN_PACKAGE false)
endif()
# Configure CMake.
if(NOT BUILD_CATKIN_PACKAGE)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
endif()
# Noisily default to Release build
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
message(STATUS "Setting build type to 'Release' as none was specified.")
set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
add_definitions(-std=c++11)
find_package(Eigen3 REQUIRED)
# Init catkin package.
if(BUILD_CATKIN_PACKAGE)
catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIR}
)
endif()
include_directories(include)
include_directories(${EIGEN3_INCLUDE_DIR})
# Don't build tests if not specified.
if(NOT BUILD_TEST)
message(STATUS "Setting build-tests to false as not specified.")
set(BUILD_TEST false CACHE BOOL "Choose whether to build tests." FORCE)
set_property(CACHE BUILD_TEST PROPERTY STRINGS
"True" "False")
endif()
if(BUILD_TEST AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/gtest/")
message(STATUS "Building GTests!")
option(BUILD_GTEST "build gtest" ON)
add_subdirectory(gtest gtest)
enable_testing()
endif()
install(DIRECTORY include/kindr DESTINATION include)
# Add unit tests
add_subdirectory(test)
# Add Doxygen documentation
add_subdirectory(doc/doxygen)
# Install catkin package.xml
#install(FILES package.xml DESTINATION share/kindr)
#=============================================
# to allow find_package() on kindr
#=============================================
#
# the following case be used in an external project requiring kindr:
# ...
# find_package(kindr)
# include_directories(${kindr_INCLUDE_DIRS})
# ...
# NOTE: the following will support find_package for 1) local build (make) and 2) for installed files (make install)
# 1- local build #
# Register the local build in case one doesn't use "make install"
export(PACKAGE kindr)
# Create variable for the local build tree
get_property(kindr_include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
# Configure config file for local build tree
configure_file(kindrConfig.cmake.in
"${PROJECT_BINARY_DIR}/kindrConfig.cmake" @ONLY)
# 2- installation build #
# Change the include location for the case of an install location
set(kindr_include_dirs ${CMAKE_INSTALL_PREFIX}/include ${EIGEN3_INCLUDE_DIR})
# We put the generated file for installation in a different repository (i.e., ./CMakeFiles/)
configure_file(kindrConfig.cmake.in
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/kindrConfig.cmake" @ONLY)
install(FILES
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/kindrConfig.cmake"
DESTINATION share/kindr/cmake COMPONENT dev)
install(FILES
package.xml
DESTINATION share/kindr COMPONENT dev)
#=============================================
# Add uninstall target
#=============================================
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
if (NOT TARGET uninstall)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()
else() # ROS version 2
set(CMAKE_CXX_STANDARD 14)
find_package(ament_cmake REQUIRED)
find_package(Eigen3 REQUIRED)
add_library(
${PROJECT_NAME}
INTERFACE
)
target_include_directories(
${PROJECT_NAME}
INTERFACE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
${EIGEN3_INCLUDE_DIR}
)
ament_target_dependencies(${PROJECT_NAME} Eigen3)
# Add Doxygen documentation
add_subdirectory(doc/doxygen)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
)
if(BUILD_TESTING)
add_subdirectory(test)
endif()
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(Eigen3)
ament_package()
endif()