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HiepLM
2026-05-28 10:29:58 +07:00
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97
navigations/teb_local_planner/cmake_modules/FindG2O.cmake Executable file
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# Locate the g2o libraries
# A general framework for graph optimization.
#
# This module defines
# G2O_FOUND, if false, do not try to link against g2o
# G2O_LIBRARIES, path to the libg2o
# G2O_INCLUDE_DIR, where to find the g2o header files
#
# Niko Suenderhauf <niko@etit.tu-chemnitz.de>
# Adapted by Felix Endres <endres@informatik.uni-freiburg.de>
IF(UNIX)
#IF(G2O_INCLUDE_DIR AND G2O_LIBRARIES)
# in cache already
# SET(G2O_FIND_QUIETLY TRUE)
#ENDIF(G2O_INCLUDE_DIR AND G2O_LIBRARIES)
MESSAGE(STATUS "Searching for g2o ...")
FIND_PATH(G2O_INCLUDE_DIR
NAMES core math_groups types
PATHS /usr/local /usr
PATH_SUFFIXES include/g2o include)
IF (G2O_INCLUDE_DIR)
MESSAGE(STATUS "Found g2o headers in: ${G2O_INCLUDE_DIR}")
ENDIF (G2O_INCLUDE_DIR)
FIND_LIBRARY(G2O_CORE_LIB
NAMES g2o_core g2o_core_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_STUFF_LIB
NAMES g2o_stuff g2o_stuff_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_TYPES_SLAM2D_LIB
NAMES g2o_types_slam2d g2o_types_slam2d_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_TYPES_SLAM3D_LIB
NAMES g2o_types_slam3d g2o_types_slam3d_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_SOLVER_CHOLMOD_LIB
NAMES g2o_solver_cholmod g2o_solver_cholmod_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_SOLVER_PCG_LIB
NAMES g2o_solver_pcg g2o_solver_pcg_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_SOLVER_CSPARSE_LIB
NAMES g2o_solver_csparse g2o_solver_csparse_rd
PATHS /usr/local /usr
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_INCREMENTAL_LIB
NAMES g2o_incremental g2o_incremental_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
FIND_LIBRARY(G2O_CSPARSE_EXTENSION_LIB
NAMES g2o_csparse_extension g2o_csparse_extension_rd
PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
PATH_SUFFIXES lib)
SET(G2O_LIBRARIES ${G2O_CSPARSE_EXTENSION_LIB}
${G2O_CORE_LIB}
${G2O_STUFF_LIB}
${G2O_TYPES_SLAM2D_LIB}
${G2O_TYPES_SLAM3D_LIB}
${G2O_SOLVER_CHOLMOD_LIB}
${G2O_SOLVER_PCG_LIB}
${G2O_SOLVER_CSPARSE_LIB}
${G2O_INCREMENTAL_LIB}
)
IF(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
SET(G2O_FOUND "YES")
IF(NOT G2O_FIND_QUIETLY)
MESSAGE(STATUS "Found libg2o: ${G2O_LIBRARIES}")
ENDIF(NOT G2O_FIND_QUIETLY)
ELSE(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
IF(NOT G2O_LIBRARIES)
IF(G2O_FIND_REQUIRED)
message(FATAL_ERROR "Could not find libg2o!")
ENDIF(G2O_FIND_REQUIRED)
ENDIF(NOT G2O_LIBRARIES)
IF(NOT G2O_INCLUDE_DIR)
IF(G2O_FIND_REQUIRED)
message(FATAL_ERROR "Could not find g2o include directory!")
ENDIF(G2O_FIND_REQUIRED)
ENDIF(NOT G2O_INCLUDE_DIR)
ENDIF(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
ENDIF(UNIX)

133
navigations/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake Executable file
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# - Try to find SUITESPARSE
# Once done this will define
#
# SUITESPARSE_FOUND - system has SUITESPARSE
# SUITESPARSE_INCLUDE_DIRS - the SUITESPARSE include directory
# SUITESPARSE_LIBRARIES - Link these to use SUITESPARSE
# SUITESPARSE_SPQR_LIBRARY - name of spqr library (necessary due to error in debian package)
# SUITESPARSE_SPQR_LIBRARY_DIR - name of spqr library (necessary due to error in debian package)
# SUITESPARSE_LIBRARY_DIR - Library main directory containing suitesparse libs
# SUITESPARSE_LIBRARY_DIRS - all Library directories containing suitesparse libs
# SUITESPARSE_SPQR_VALID - automatic identification whether or not spqr package is installed correctly
IF (SUITESPARSE_INCLUDE_DIRS)
# Already in cache, be silent
SET(SUITESPARSE_FIND_QUIETLY TRUE)
ENDIF (SUITESPARSE_INCLUDE_DIRS)
if( WIN32 )
# Find cholmod part of the suitesparse library collection
FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
PATHS "C:\\libs\\win32\\SuiteSparse\\Include" )
# Add cholmod include directory to collection include directories
IF ( CHOLMOD_INCLUDE_DIR )
list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
ENDIF( CHOLMOD_INCLUDE_DIR )
# find path suitesparse library
FIND_PATH( SUITESPARSE_LIBRARY_DIRS
amd.lib
PATHS "C:\\libs\\win32\\SuiteSparse\\libs" )
# if we found the library, add it to the defined libraries
IF ( SUITESPARSE_LIBRARY_DIRS )
list ( APPEND SUITESPARSE_LIBRARIES optimized;amd;optimized;camd;optimized;ccolamd;optimized;cholmod;optimized;colamd;optimized;metis;optimized;spqr;optimized;umfpack;debug;amdd;debug;camdd;debug;ccolamdd;debug;cholmodd;debug;spqrd;debug;umfpackd;debug;colamdd;debug;metisd;optimized;blas;optimized;libf2c;optimized;lapack;debug;blasd;debug;libf2cd;debug;lapackd )
ENDIF( SUITESPARSE_LIBRARY_DIRS )
else( WIN32 )
IF(APPLE)
FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
PATHS /opt/local/include/ufsparse
/usr/local/include )
FIND_PATH( SUITESPARSE_LIBRARY_DIR
NAMES libcholmod.a
PATHS /opt/local/lib
/usr/local/lib )
ELSE(APPLE)
FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
PATHS /usr/local/include
/usr/include
/usr/include/suitesparse/
${CMAKE_SOURCE_DIR}/MacOS/Libs/cholmod
PATH_SUFFIXES cholmod/ CHOLMOD/ )
FIND_PATH( SUITESPARSE_LIBRARY_DIR
NAMES libcholmod.so libcholmod.a
PATHS /usr/lib
/usr/lib64
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/local/lib
/usr/lib/arm-linux-gnueabihf/
/usr/lib/aarch64-linux-gnu/
/usr/lib/arm-linux-gnueabi/
/usr/lib/arm-linux-gnu)
ENDIF(APPLE)
# Add cholmod include directory to collection include directories
IF ( CHOLMOD_INCLUDE_DIR )
list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
ENDIF( CHOLMOD_INCLUDE_DIR )
# if we found the library, add it to the defined libraries
IF ( SUITESPARSE_LIBRARY_DIR )
list ( APPEND SUITESPARSE_LIBRARIES amd)
list ( APPEND SUITESPARSE_LIBRARIES btf)
list ( APPEND SUITESPARSE_LIBRARIES camd)
list ( APPEND SUITESPARSE_LIBRARIES ccolamd)
list ( APPEND SUITESPARSE_LIBRARIES cholmod)
list ( APPEND SUITESPARSE_LIBRARIES colamd)
# list ( APPEND SUITESPARSE_LIBRARIES csparse)
list ( APPEND SUITESPARSE_LIBRARIES cxsparse)
list ( APPEND SUITESPARSE_LIBRARIES klu)
# list ( APPEND SUITESPARSE_LIBRARIES spqr)
list ( APPEND SUITESPARSE_LIBRARIES umfpack)
IF (APPLE)
list ( APPEND SUITESPARSE_LIBRARIES suitesparseconfig)
ENDIF (APPLE)
# Metis and spqr are optional
FIND_LIBRARY( SUITESPARSE_METIS_LIBRARY
NAMES metis
PATHS ${SUITESPARSE_LIBRARY_DIR} )
IF (SUITESPARSE_METIS_LIBRARY)
list ( APPEND SUITESPARSE_LIBRARIES metis)
ENDIF(SUITESPARSE_METIS_LIBRARY)
if(EXISTS "${CHOLMOD_INCLUDE_DIR}/SuiteSparseQR.hpp")
SET(SUITESPARSE_SPQR_VALID TRUE CACHE BOOL "SuiteSparseSPQR valid")
else()
SET(SUITESPARSE_SPQR_VALID false CACHE BOOL "SuiteSparseSPQR valid")
endif()
if(SUITESPARSE_SPQR_VALID)
FIND_LIBRARY( SUITESPARSE_SPQR_LIBRARY
NAMES spqr
PATHS ${SUITESPARSE_LIBRARY_DIR} )
IF (SUITESPARSE_SPQR_LIBRARY)
list ( APPEND SUITESPARSE_LIBRARIES spqr)
ENDIF (SUITESPARSE_SPQR_LIBRARY)
endif()
ENDIF( SUITESPARSE_LIBRARY_DIR )
endif( WIN32 )
IF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
IF(WIN32)
list (APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR}/../../UFconfig )
ENDIF(WIN32)
SET(SUITESPARSE_FOUND TRUE)
MESSAGE(STATUS "Found SuiteSparse")
ELSE (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
SET( SUITESPARSE_FOUND FALSE )
MESSAGE(FATAL_ERROR "Unable to find SuiteSparse")
ENDIF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)