88 lines
2.2 KiB
CMake
88 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.10)
|
|
project(laser_geometry)
|
|
|
|
set(CMAKE_CXX_STANDARD 17)
|
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
|
include(CTest)
|
|
|
|
# Find dependencies
|
|
find_package(Eigen3 REQUIRED)
|
|
find_package(GTest REQUIRED)
|
|
|
|
# Add subdirectories for message dependencies
|
|
# if (NOT TARGET sensor_msgs)
|
|
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
|
|
# endif()
|
|
|
|
# if (NOT TARGET geometry_msgs)
|
|
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
|
|
# endif()
|
|
|
|
# if (NOT TARGET robot_time)
|
|
# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
|
|
# endif()
|
|
|
|
# Include directories
|
|
include_directories(
|
|
include
|
|
${EIGEN3_INCLUDE_DIRS}
|
|
${GTEST_INCLUDE_DIRS}
|
|
)
|
|
|
|
# Create library
|
|
add_library(laser_geometry SHARED src/laser_geometry.cpp)
|
|
|
|
target_include_directories(laser_geometry
|
|
PUBLIC
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
|
|
)
|
|
|
|
target_link_libraries(laser_geometry PUBLIC
|
|
sensor_msgs
|
|
geometry_msgs
|
|
robot_time
|
|
tf3
|
|
data_convert
|
|
)
|
|
|
|
if(TARGET Eigen3::Eigen)
|
|
target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
|
|
else()
|
|
target_include_directories(laser_geometry PUBLIC ${EIGEN3_INCLUDE_DIRS})
|
|
endif()
|
|
|
|
# Causes the visibility macros to use dllexport rather than dllimport,
|
|
# which is appropriate when building the dll but not consuming it.
|
|
target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
|
|
|
|
# Install targets
|
|
install(
|
|
TARGETS laser_geometry
|
|
# EXPORT laser_geometry
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
INCLUDES DESTINATION include
|
|
)
|
|
|
|
install(
|
|
DIRECTORY include/
|
|
DESTINATION include/${PROJECT_NAME}
|
|
)
|
|
|
|
# Tests
|
|
if(BUILD_TESTING)
|
|
enable_testing()
|
|
|
|
add_executable(projection_test test/projection_test.cpp)
|
|
target_link_libraries(projection_test
|
|
laser_geometry
|
|
GTest::GTest
|
|
GTest::Main
|
|
pthread
|
|
)
|
|
add_test(NAME projection_test COMMAND projection_test)
|
|
endif()
|