87 lines
2.2 KiB
CMake
87 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.10)
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project(laser_geometry)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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include(CTest)
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# Find dependencies
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find_package(Eigen3 REQUIRED)
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find_package(GTest REQUIRED)
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# Add subdirectories for message dependencies
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if (NOT TARGET sensor_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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endif()
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if (NOT TARGET geometry_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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endif()
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if (NOT TARGET robot_time)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
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endif()
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# Include directories
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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)
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# Create library
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add_library(laser_geometry SHARED src/laser_geometry.cpp)
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target_include_directories(laser_geometry
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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target_link_libraries(laser_geometry PUBLIC
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sensor_msgs
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geometry_msgs
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robot_time
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tf2
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)
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if(TARGET Eigen3::Eigen)
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target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
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else()
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target_include_directories(laser_geometry PUBLIC ${EIGEN3_INCLUDE_DIRS})
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endif()
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
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# Install targets
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install(
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TARGETS laser_geometry
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EXPORT laser_geometry
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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# Tests
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if(BUILD_TESTING)
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enable_testing()
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add_executable(projection_test test/projection_test.cpp)
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target_link_libraries(projection_test
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laser_geometry
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GTest::GTest
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GTest::Main
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pthread
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)
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add_test(NAME projection_test COMMAND projection_test)
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endif()
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