Added export(PACKAGE ...) to CMakeLists.txt so that we can run find_p…

…ackage(inekf) in the ROS wrapper

CMakeLists.txt

@@ -11,9 +11,11 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DEIGEN_NO_DEBUG -march=native -Wl,-
 project(inekf)
 
 # Set the output folder where your program will be created
-set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin)
-set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
-set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)    
+#set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/bin)
+#set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
+#set(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/lib)    
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
 
 ############################################
 #  The following folders will be included  #
@@ -26,10 +28,12 @@ find_package (Threads)
 # Boost
 find_package(Boost 1.58 REQUIRED COMPONENTS system)
 include_directories(${Boost_INCLUDE_DIR})
+message("Boost_INCLUDE_DIR: " ${Boost_INCLUDE_DIR})
 
 # Eigen 
 find_package(Eigen3 REQUIRED)
 include_directories(${EIGEN3_INCLUDE_DIR})
+message("EIGEN3_INCLUDE_DIR: " ${EIGEN3_INCLUDE_DIR})
 
 # Adding all classes
 file(GLOB src_files
@@ -48,6 +52,58 @@ add_executable(correction_speed ${PROJECT_SOURCE_DIR}/src/tests/correction_speed
 target_link_libraries(landmarks ${Boost_LIBRARIES})
 target_link_libraries(correction_speed ${Boost_LIBRARIES})
 
+# Create Library
+add_library(inekf SHARED
+    "${PROJECT_SOURCE_DIR}/src/InEKF.cpp"
+    "${PROJECT_SOURCE_DIR}/src/RobotState.cpp"
+    "${PROJECT_SOURCE_DIR}/src/LieGroup.cpp"
+)
+set_target_properties(inekf PROPERTIES LIBRARY_OUTPUT_NAME inekf)
+
+
+
+#=============================================
+# to allow find_package() on kindr
+#=============================================
+# 
+# the following case be used in an external project requiring kindr:
+#  ...
+#  find_package(kindr) 
+#  include_directories(${kindr_INCLUDE_DIRS}) 
+#  ...
+
+# NOTE: the following will support find_package for 1) local build (make) and 2) for installed files (make install)
+
+# 1- local build #
+
+# Register the local build in case one doesn't use "make install"
+export(PACKAGE inekf)
+
+# Create variable for the local build tree
+#set_target_properties(inekf PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
+get_property(inekf_include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
+get_property(inekf_library_dirs TARGET inekf PROPERTY LIBRARY_OUTPUT_DIRECTORY)
+get_property(inekf_libraries TARGET inekf PROPERTY LIBRARY_OUTPUT_NAME)
+
+message("inekf_include_dirs: " ${inekf_include_dirs})
+message("inekf_library_dirs: " ${inekf_library_dirs})
+message("inekf_libraries: " ${inekf_libraries})
+
+# Configure config file for local build tree
+configure_file(inekfConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/inekfConfig.cmake" @ONLY)
+
+message("PROJECT_BINARY_DIR: " ${PROJECT_BINARY_DIR})
+
+# # 2- installation build #
 
+# # Change the include location for the case of an install location
+# set(inekf_include_dirs ${CMAKE_INSTALL_PREFIX}/include ${EIGEN_INCLUDE_DIR})
 
+# # We put the generated file for installation in a different repository (i.e., ./CMakeFiles/)
+# configure_file(inekfConfig.cmake.in
+#   "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/inekfConfig.cmake" @ONLY)
 
+# install(FILES
+#   "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/inekfConfig.cmake"
+#   DESTINATION share/inekf/cmake COMPONENT dev)

include/InEKF.h

@@ -9,6 +9,8 @@
 #include "RobotState.h"
 #include "LieGroup.h"
 
+namespace inekf {
+
 typedef std::map<int,Eigen::Vector3d,std::less<int>,Eigen::aligned_allocator<std::pair<const int,Eigen::Vector3d>>> mapIntVector3d;
 typedef std::vector<std::pair<int,Eigen::Vector3d>> vectorPairIntVector3d;
 
@@ -93,6 +95,5 @@ class InEKF {
         std::map<int,int> estimated_landmarks_;
 };
 
-
-
+} // end inekf namespace
 #endif 

include/LieGroup.h

@@ -3,11 +3,14 @@
 #include <Eigen/Dense>
 #include <iostream>
 
+namespace inekf {
+
 #define TOLERANCE 1e-10 
 
 Eigen::Matrix3d skew(const Eigen::Vector3d& v);
 Eigen::Matrix3d Exp_SO3(const Eigen::Vector3d& w);
 Eigen::MatrixXd Exp_SEK3(const Eigen::VectorXd& v);
 Eigen::MatrixXd Adjoint_SEK3(const Eigen::MatrixXd& X);
 
+} // end inekf namespace
 #endif 

include/RobotState.h

@@ -3,6 +3,8 @@
 #include <Eigen/Dense>
 #include <iostream>
 
+namespace inekf {
+
 class RobotState {
 
     public:
@@ -44,4 +46,5 @@ class RobotState {
 
 };
 
+} // end inekf namespace
 #endif 

inekfConfig.cmake.in

@@ -0,0 +1,13 @@
+# - Config file for the inekf package
+# It defines the following variables
+#  inekf_INCLUDE_DIRS - include directories for inekf
+#  inekf_LIBRARY_DIRS - directories for inekf library
+
+# Compute paths
+get_filename_component(inekf_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+set(inekf_INCLUDE_DIRS "@inekf_include_dirs@")
+set(inekf_LIBRARY_DIRS "@inekf_library_dirs@")
+set(inekf_LIBRARIES "@inekf_libraries@")
+
+# This causes catkin_simple to link against these libraries
+set(inekf_FOUND_CATKIN_PROJECT true)

src/InEKF.cpp

@@ -1,6 +1,8 @@
 #include "InEKF.h"
-using namespace std;
 
+namespace inekf {
+
+using namespace std;
 
 // ------------ NoiseParams -------------
 // Default Constructor
@@ -333,4 +335,6 @@ void InEKF::CorrectLandmarks(const vectorPairIntVector3d& measured_landmarks) {
     }
 
     return;    
-}
+}
+
+} // end inekf namespace

src/LieGroup.cpp

@@ -1,4 +1,7 @@
 #include "LieGroup.h"
+
+namespace inekf {
+
 using namespace std;
 
 Eigen::Matrix3d skew(const Eigen::Vector3d& v) {
@@ -62,3 +65,5 @@ Eigen::MatrixXd Adjoint_SEK3(const Eigen::MatrixXd& X) {
     }
     return Adj;
 }
+
+} // end inekf namespace

src/RobotState.cpp

@@ -1,5 +1,8 @@
 #include "RobotState.h"
 #include "LieGroup.h"
+
+namespace inekf {
+
 using namespace std;
 
 // Default constructor
@@ -62,4 +65,6 @@ ostream& operator<<(ostream& os, const RobotState& s) {
     os << "P:\n" << s.P_ << endl;
     os << "-----------------------------------";
     return os;  
-} 
+} 
+
+} // end inekf namespace

src/examples/landmarks.cpp

@@ -9,6 +9,7 @@
 #define DT_MAX 1
 
 using namespace std;
+using namespace inekf;
 
 int main() 
 {

src/tests/correction_speed.cpp

@@ -13,6 +13,7 @@
 #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
 
 using namespace std;
+using namespace inekf;
 
 typedef vector<pair<double,Eigen::Matrix<double,6,1>>> vectorPairIntVector6d;
 

src/tests/propagation_speed.cpp

@@ -12,6 +12,7 @@
 #define DT_MAX 1
 
 using namespace std;
+using namespace inekf;
 
 typedef vector<pair<double,Eigen::Matrix<double,6,1>>> vectorPairIntVector6d;