cmake_minimum_required(VERSION 3.0.2)

project(fuse_variables)

set(build_depends

fuse_core

pluginlib

roscpp

)

find_package(catkin REQUIRED COMPONENTS

${build_depends}

)

find_package(Ceres REQUIRED)

catkin_package(

INCLUDE_DIRS

LIBRARIES

${PROJECT_NAME}

CATKIN_DEPENDS

${build_depends}

DEPENDS

CERES

)

add_compile_options(-Wall -Werror)

add_library(${PROJECT_NAME}

src/acceleration_angular_2d_stamped.cpp

src/acceleration_angular_3d_stamped.cpp

src/acceleration_linear_2d_stamped.cpp

src/acceleration_linear_3d_stamped.cpp

src/orientation_2d_stamped.cpp

src/orientation_3d_stamped.cpp

src/point_2d_fixed_landmark.cpp

src/point_2d_landmark.cpp

src/point_3d_fixed_landmark.cpp

src/point_3d_landmark.cpp

src/position_2d_stamped.cpp

src/position_3d_stamped.cpp

src/stamped.cpp

src/velocity_angular_2d_stamped.cpp

src/velocity_angular_3d_stamped.cpp

src/velocity_linear_2d_stamped.cpp

src/velocity_linear_3d_stamped.cpp

)

add_dependencies(${PROJECT_NAME}

${catkin_EXPORTED_TARGETS}

)

target_include_directories(${PROJECT_NAME}

PUBLIC

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(${PROJECT_NAME}

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

install(

TARGETS ${PROJECT_NAME}

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}

)

install(DIRECTORY include/${PROJECT_NAME}/

DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

)

install(

FILES fuse_plugins.xml

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

if(CATKIN_ENABLE_TESTING)

find_package(roslint REQUIRED)

find_package(rostest REQUIRED)

# Lint tests

set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")

roslint_cpp()

roslint_add_test()

# Acceleration Angular 2D Stamped Tests

catkin_add_gtest(test_acceleration_angular_2d_stamped

test/test_acceleration_angular_2d_stamped.cpp

)

add_dependencies(test_acceleration_angular_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_acceleration_angular_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_acceleration_angular_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_acceleration_angular_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Acceleration Angular 3D Stamped Tests

catkin_add_gtest(test_acceleration_angular_3d_stamped

test/test_acceleration_angular_3d_stamped.cpp

)

add_dependencies(test_acceleration_angular_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_acceleration_angular_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_acceleration_angular_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_acceleration_angular_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Acceleration Linear 2D Stamped Tests

catkin_add_gtest(test_acceleration_linear_2d_stamped

test/test_acceleration_linear_2d_stamped.cpp

)

add_dependencies(test_acceleration_linear_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_acceleration_linear_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_acceleration_linear_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_acceleration_linear_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Acceleration Linear 3D Stamped Tests

catkin_add_gtest(test_acceleration_linear_3d_stamped

test/test_acceleration_linear_3d_stamped.cpp

)

add_dependencies(test_acceleration_linear_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_acceleration_linear_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_acceleration_linear_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_acceleration_linear_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Fixed Size Variable Tests

catkin_add_gtest(test_fixed_size_variable

test/test_fixed_size_variable.cpp

)

add_dependencies(test_fixed_size_variable

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_fixed_size_variable

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_fixed_size_variable

${PROJECT_NAME}

${catkin_LIBRARIES}

)

set_target_properties(test_fixed_size_variable

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Load Device ID Tests

add_rostest_gtest(test_load_device_id

test/load_device_id.test

test/test_load_device_id.cpp

)

add_dependencies(test_load_device_id

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_load_device_id

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_load_device_id

${PROJECT_NAME}

${catkin_LIBRARIES}

)

set_target_properties(test_load_device_id

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Orientation 2D Stamped Tests

catkin_add_gtest(test_orientation_2d_stamped

test/test_orientation_2d_stamped.cpp

)

add_dependencies(test_orientation_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_orientation_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_orientation_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_orientation_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Orientation 3D Stamped Tests

catkin_add_gtest(test_orientation_3d_stamped

test/test_orientation_3d_stamped.cpp

)

add_dependencies(test_orientation_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_orientation_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_orientation_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_orientation_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Point 2D fixed landmark tests

catkin_add_gtest(test_point_2d_fixed_landmark

test/test_point_2d_fixed_landmark.cpp

)

add_dependencies(test_point_2d_fixed_landmark

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_point_2d_fixed_landmark

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_point_2d_fixed_landmark

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_point_2d_fixed_landmark

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Point 2D landmark tests

catkin_add_gtest(test_point_2d_landmark

test/test_point_2d_landmark.cpp

)

add_dependencies(test_point_2d_landmark

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_point_2d_landmark

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_point_2d_landmark

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_point_2d_landmark

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Point 3D fixed landmark tests

catkin_add_gtest(test_point_3d_fixed_landmark

test/test_point_3d_fixed_landmark.cpp

)

add_dependencies(test_point_3d_fixed_landmark

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_point_3d_fixed_landmark

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_point_3d_fixed_landmark

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_point_3d_fixed_landmark

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Point 3D landmark tests

catkin_add_gtest(test_point_3d_landmark

test/test_point_3d_landmark.cpp

)

add_dependencies(test_point_3d_landmark

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_point_3d_landmark

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_point_3d_landmark

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_point_3d_landmark

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Position 2D Stamped Tests

catkin_add_gtest(test_position_2d_stamped

test/test_position_2d_stamped.cpp

)

add_dependencies(test_position_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_position_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_position_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_position_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Position 3D stamped tests

catkin_add_gtest(test_position_3d_stamped

test/test_position_3d_stamped.cpp

)

add_dependencies(test_position_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_position_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_position_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_position_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Velocity Angular 2D Stamped Tests

catkin_add_gtest(test_velocity_angular_2d_stamped

test/test_velocity_angular_2d_stamped.cpp

)

add_dependencies(test_velocity_angular_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_velocity_angular_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_velocity_angular_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_velocity_angular_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Velocity Angular 3D Stamped Tests

catkin_add_gtest(test_velocity_angular_3d_stamped

test/test_velocity_angular_3d_stamped.cpp

)

add_dependencies(test_velocity_angular_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_velocity_angular_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_velocity_angular_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_velocity_angular_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Velocity Linear 2D Stamped Tests

catkin_add_gtest(test_velocity_linear_2d_stamped

test/test_velocity_linear_2d_stamped.cpp

)

add_dependencies(test_velocity_linear_2d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_velocity_linear_2d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_velocity_linear_2d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_velocity_linear_2d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

# Velocity Linear 3D Stamped Tests

catkin_add_gtest(test_velocity_linear_3d_stamped

test/test_velocity_linear_3d_stamped.cpp

)

add_dependencies(test_velocity_linear_3d_stamped

${catkin_EXPORTED_TARGETS}

)

target_include_directories(test_velocity_linear_3d_stamped

PRIVATE

${catkin_INCLUDE_DIRS}

${CERES_INCLUDE_DIRS}

)

target_link_libraries(test_velocity_linear_3d_stamped

${PROJECT_NAME}

${catkin_LIBRARIES}

${CERES_LIBRARIES}

)

set_target_properties(test_velocity_linear_3d_stamped

PROPERTIES

CXX_STANDARD 17

CXX_STANDARD_REQUIRED YES

)

endif()