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Merge remote-tracking branch 'remote2/develop' into develop
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‎docs/module-mola-yaml.rst

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.. _mola-yaml:
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====================
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Module: mola-yaml
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====================
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YAML helper C++ library common to all MOLA modules, released under BSD-3-Clause.
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This module implements the YAML extensions explained in: :ref:`yaml_slam_cfg_file`.

‎mola_yaml/.clang-format

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Language: Cpp
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BasedOnStyle: Google
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# ---
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#AccessModifierOffset: -4
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AlignAfterOpenBracket: AlwaysBreak # Values: Align, DontAlign, AlwaysBreak
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AlignConsecutiveAssignments: true
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AlignConsecutiveDeclarations: true
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#AlignEscapedNewlinesLeft: true
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#AlignOperands: false
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AlignTrailingComments: false # Should be off, causes many dummy problems!!
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#AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: true
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#AllowShortCaseLabelsOnASingleLine: false
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#AllowShortFunctionsOnASingleLine: Empty
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#AllowShortIfStatementsOnASingleLine: false
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#AllowShortLoopsOnASingleLine: false
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#AlwaysBreakAfterDefinitionReturnType: None
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#AlwaysBreakAfterReturnType: None
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#AlwaysBreakBeforeMultilineStrings: true
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#AlwaysBreakTemplateDeclarations: true
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#BinPackArguments: false
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#BinPackParameters: false
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#BraceWrapping:
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#AfterClass: false
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#AfterControlStatement: false
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#AfterEnum: false
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#AfterFunction: false
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#AfterNamespace: false
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#AfterObjCDeclaration: false
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#AfterStruct: false
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#AfterUnion: false
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#BeforeCatch: false
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#BeforeElse: true
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#IndentBraces: false
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#BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Allman
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#BreakBeforeTernaryOperators: true
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#BreakConstructorInitializersBeforeComma: false
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ColumnLimit: 80
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#CommentPragmas: ''
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#ConstructorInitializerAllOnOneLineOrOnePerLine: true
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#ConstructorInitializerIndentWidth: 4
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#ContinuationIndentWidth: 4
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#Cpp11BracedListStyle: true
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#DerivePointerAlignment: false
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#DisableFormat: false
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#ExperimentalAutoDetectBinPacking: false
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##FixNamespaceComments: true # Not applicable in 3.8
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#ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
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#IncludeCategories:
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#- Regex: '.*'
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#Priority: 1
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IndentCaseLabels: true
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IndentWidth: 4
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IndentWrappedFunctionNames: true
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#KeepEmptyLinesAtTheStartOfBlocks: true
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#MacroBlockBegin: ''
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#MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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#PenaltyBreakBeforeFirstCallParameter: 19
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#PenaltyBreakComment: 300
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#PenaltyBreakFirstLessLess: 120
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#PenaltyBreakString: 1000
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#PenaltyExcessCharacter: 1000000
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#PenaltyReturnTypeOnItsOwnLine: 200
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DerivePointerAlignment: false
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#PointerAlignment: Left
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ReflowComments: true # Should be true, otherwise clang-format doesn't touch comments
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SortIncludes: true
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#SpaceAfterCStyleCast: false
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SpaceBeforeAssignmentOperators: true
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#SpaceBeforeParens: ControlStatements
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#SpaceInEmptyParentheses: false
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#SpacesBeforeTrailingComments: 2
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#SpacesInAngles: false
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#SpacesInContainerLiterals: true
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#SpacesInCStyleCastParentheses: false
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#SpacesInParentheses: false
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#SpacesInSquareBrackets: false
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Standard: Cpp11
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TabWidth: 4
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UseTab: Never # Available options are Never, Always, ForIndentation

‎mola_yaml/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mola_yaml
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.2.2 (2023-09-08)
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------------------
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* Fix package name in docs
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* Contributors: Jose Luis Blanco-Claraco
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0.2.1 (2023-09-02)
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------------------
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0.2.0 (2023-08-24)
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------------------
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* First public release as ROS 2 package.

‎mola_yaml/CMakeLists.txt

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# ------------------------------------------------------------------------------
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# A Modular Optimization framework for Localization and mApping
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# (MOLA)
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#
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# Copyright (C) 2018-2023, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
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# All rights reserved.
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# Released under GNU GPL v3. See LICENSE file
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# ------------------------------------------------------------------------------
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# Minimum CMake vesion: limited by CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
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cmake_minimum_required(VERSION 3.4)
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# Tell CMake we'll use C++ for use in its tests/flags
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project(mola_yaml LANGUAGES CXX)
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# MOLA CMake scripts: "mola_xxx()"
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find_package(mola_common REQUIRED)
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# find dependencies:
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find_package(MRPT 2.1.0 REQUIRED COMPONENTS containers system)
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# define lib:
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file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
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file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
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# Use C++17 filesystem lib:
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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find_package(Filesystem REQUIRED)
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mola_add_library(
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TARGET ${PROJECT_NAME}
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SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
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PUBLIC_LINK_LIBRARIES
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mrpt::containers
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PRIVATE_LINK_LIBRARIES
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mrpt::system
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CXX::Filesystem # the C++>=17 std lib
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CMAKE_DEPENDENCIES
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mrpt-containers
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mrpt-system
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)
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# -----------------------
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# define tests:
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enable_testing()
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add_subdirectory(tests)

‎mola_yaml/LICENSE

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BSD 3-Clause License
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Copyright (c) 2021, The MOLA SLAM framework
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎mola_yaml/README.md

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# mola_yaml
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YAML helper library common to MOLA modules. A C++ library to parse YAML files with extended syntax allowing variable replacing, recursive `include`s of other YAML files, etc.
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## Build and install
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Refer to the [root MOLA repository](https://github.com/MOLAorg/mola).
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## Docs and examples
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See this package page [in the documentation](https://docs.mola-slam.org/latest/modules.html).
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## License
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This package is released under the BSD-3 license.

‎mola_yaml/cmake/FindFilesystem.cmake

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# This is from https://github.com/vector-of-bool/pitchfork/blob/develop/cmake/FindFilesystem.cmake
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include(CMakePushCheckState)
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include(CheckIncludeFileCXX)
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include(CheckCXXSourceCompiles)
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cmake_push_check_state(RESET)
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# this seems not to affect check_cxx_source_compiles()...
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set(CMAKE_CXX_STANDARD 17)
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if (CMAKE_COMPILER_IS_GNUCXX OR (${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang"))
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set(CMAKE_REQUIRED_LINK_OPTIONS -std=c++17)
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set(CMAKE_REQUIRED_FLAGS -std=c++17)
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endif()
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set(have_fs FALSE)
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check_include_file_cxx("filesystem" HAVE_STD_FILESYSTEM)
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check_include_file_cxx("experimental/filesystem" HAVE_STD_EXPERIMENTAL_FILESYSTEM)
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if(HAVE_STD_FILESYSTEM)
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set(have_fs TRUE)
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set(header filesystem)
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set(namespace std::filesystem)
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elseif(HAVE_STD_EXPERIMENTAL_FILESYSTEM)
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set(have_fs TRUE)
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set(header experimental/filesystem)
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set(namespace std::experimental::filesystem)
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endif()
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string(CONFIGURE [[
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#include <@header@>
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int main() {
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auto cwd = @namespace@::current_path();
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return cwd.string().size();
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}
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]] code @ONLY)
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check_cxx_source_compiles("${code}" CAN_COMPILE_FS_WITHOUT_LINK)
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if(NOT CAN_COMPILE_FS_WITHOUT_LINK)
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set(CMAKE_REQUIRED_LIBRARIES -lstdc++fs)
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check_cxx_source_compiles("${code}" CAN_COMPILE_FS_WITH_LINK)
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endif()
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cmake_pop_check_state()
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if(have_fs)
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add_library(CXX::Filesystem INTERFACE IMPORTED)
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if(NOT ${CMAKE_VERSION} VERSION_LESS "3.16.0")
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target_compile_definitions(CXX::Filesystem INTERFACE STD_FS_IS_EXPERIMENTAL=$<NOT:$<BOOL:${HAVE_STD_FILESYSTEM}>>)
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else()
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set_property(TARGET CXX::Filesystem APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS STD_FS_IS_EXPERIMENTAL=$<NOT:$<BOOL:${HAVE_STD_FILESYSTEM}>>)
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endif()
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if(CAN_COMPILE_FS_WITHOUT_LINK)
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# Nothing to add...
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elseif(CAN_COMPILE_FS_WITH_LINK)
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if(NOT ${CMAKE_VERSION} VERSION_LESS "3.16.0")
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target_link_libraries(CXX::Filesystem INTERFACE -lstdc++fs)
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else()
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set_property(TARGET CXX::Filesystem APPEND PROPERTY INTERFACE_LINK_LIBRARIES stdc++fs)
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endif()
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else()
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message(WARNING "Failed to link a filesystem library, although we found the headers...?")
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endif()
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set(Filesystem_FOUND TRUE CACHE BOOL "" FORCE)
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else()
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set(Filesystem_FOUND FALSE CACHE BOOL "" FORCE)
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if(Filesystem_FIND_REQUIRED)
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message(FATAL_ERROR "No C++ support for std::filesystem")
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endif()
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endif()

‎mola_yaml/include/mola_yaml/macro_helpers.h

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/* -------------------------------------------------------------------------
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* A Modular Optimization framework for Localization and mApping (MOLA)
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* Copyright (C) 2018-2023 Jose Luis Blanco, University of Almeria
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* See LICENSE for license information.
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* ------------------------------------------------------------------------- */
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/**
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* @file macro_helpers.h
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* @brief C preprocessor helpers
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* @author Jose Luis Blanco Claraco
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* @date Jan 11, 2019
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*/
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#pragma once
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// The following is taken from a great answer here:
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// https://stackoverflow.com/a/26408195/1631514
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// get number of arguments with MOLA_NARG
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#define MOLA_NARG(...) MOLA_NARG_I_(__VA_ARGS__, MOLA_RSEQ_N())
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#define MOLA_NARG_I_(...) MOLA_ARG_N(__VA_ARGS__)
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#define MOLA_ARG_N(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
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#define MOLA_RSEQ_N() 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0
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// general definition for any function name
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#define MOLA_VFUNC_(name, n) name##n
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#define MOLA_VFUNC(name, n) MOLA_VFUNC_(name, n)
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#define VFUNC(func, ...) MOLA_VFUNC(func, MOLA_NARG(__VA_ARGS__))(__VA_ARGS__)

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