Moves the contents of the cartographer subdirectory up one level.
Damon Kohler
parent
188e5fb7bd
commit
269c28cb0c
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@ -0,0 +1,134 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required (VERSION 2.8.7)
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project(cartographer)
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set(CARTOGRAPHER_MAJOR_VERSION 1)
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set(CARTOGRAPHER_MINOR_VERSION 0)
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set(CARTOGRAPHER_PATCH_VERSION 0)
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set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
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set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
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include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Release")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
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message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
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else()
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message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
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endif()
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(Ceres REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf REQUIRED)
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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add_subdirectory("doc")
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endif()
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set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
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add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
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google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
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if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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google_add_flag(GOOG_CXX_FLAGS "-Weverything")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
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else()
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google_add_flag(GOOG_CXX_FLAGS "-Wall")
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google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
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endif()
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# Turn some warnings into errors. These are defined for clang and gcc.
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google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
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enable_testing()
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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add_subdirectory("cartographer")
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include(CMakePackageConfigHelpers)
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# Create a cartographer-config.cmake file for the use from the install tree
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# and install it
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set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
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list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
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set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
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google_combined_library(cartographer
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SRCS "${ALL_LIBRARIES}"
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)
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get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
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install(
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FILES
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${CARTOGRAPHER_LIBRARY_FILE}
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DESTINATION
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lib
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)
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# TODO(hrapp): We have to mention glog here, otherwise we get unresolved
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# symbols. Piggybacking on Ceres does not seem to do the trick.
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "webp")
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list(APPEND CARTOGRAPHER_LIBRARIES "glog")
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CONFIGURE_PACKAGE_CONFIG_FILE(
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cartographer-config.cmake.in
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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install(
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FILES
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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DESTINATION
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share/cartographer/
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)
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@ -12,123 +12,11 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required (VERSION 2.8.7)
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project(cartographer)
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set(CARTOGRAPHER_MAJOR_VERSION 1)
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set(CARTOGRAPHER_MINOR_VERSION 0)
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set(CARTOGRAPHER_PATCH_VERSION 0)
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set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
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set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
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include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Release")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
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message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
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else()
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message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
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endif()
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(Ceres REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf REQUIRED)
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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add_subdirectory("doc")
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endif()
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set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
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add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
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google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
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if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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google_add_flag(GOOG_CXX_FLAGS "-Weverything")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
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else()
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google_add_flag(GOOG_CXX_FLAGS "-Wall")
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google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
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endif()
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# Turn some warnings into errors. These are defined for clang and gcc.
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google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
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enable_testing()
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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add_subdirectory("cartographer")
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include(CMakePackageConfigHelpers)
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# Create a cartographer-config.cmake file for the use from the install tree
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# and install it
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set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
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list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
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set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
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google_combined_library(cartographer
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SRCS "${ALL_LIBRARIES}"
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)
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get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
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install(
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FILES
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${CARTOGRAPHER_LIBRARY_FILE}
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DESTINATION
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lib
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)
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# TODO(hrapp): We have to mention glog here, otherwise we get unresolved
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# symbols. Piggybacking on Ceres does not seem to do the trick.
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "webp")
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list(APPEND CARTOGRAPHER_LIBRARIES "glog")
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CONFIGURE_PACKAGE_CONFIG_FILE(
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cartographer-config.cmake.in
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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install(
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FILES
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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DESTINATION
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share/cartographer/
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)
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add_subdirectory("common")
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add_subdirectory("kalman_filter")
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add_subdirectory("mapping")
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add_subdirectory("mapping_2d")
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add_subdirectory("mapping_3d")
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add_subdirectory("proto")
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add_subdirectory("sensor")
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add_subdirectory("transform")
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@ -1,22 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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add_subdirectory("common")
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add_subdirectory("kalman_filter")
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add_subdirectory("mapping")
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add_subdirectory("mapping_2d")
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add_subdirectory("mapping_3d")
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add_subdirectory("proto")
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add_subdirectory("sensor")
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add_subdirectory("transform")
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