git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/teb_local_planner/cmake_modules/FindG2O.cmake
+++ b/navigations/teb_local_planner/cmake_modules/FindG2O.cmake
@@ -0,0 +1,97 @@
+# 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)
+