feat(slam): add cartographer_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,147 @@
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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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include(CMakeParseArguments)
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macro(_parse_arguments ARGS)
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set(OPTIONS)
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set(ONE_VALUE_ARG)
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set(MULTI_VALUE_ARGS SRCS)
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cmake_parse_arguments(ARG
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"${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
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endmacro(_parse_arguments)
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macro(_common_compile_stuff VISIBILITY)
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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set_target_properties(${NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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target_include_directories(${NAME} PUBLIC ${PROJECT_NAME})
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target_link_libraries(${NAME} PUBLIC ${PROJECT_NAME})
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endmacro(_common_compile_stuff)
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function(google_test NAME ARG_SRC)
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add_executable(${NAME} ${ARG_SRC})
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_common_compile_stuff("PRIVATE")
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# Make sure that gmock always includes the correct gtest/gtest.h.
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target_include_directories("${NAME}" SYSTEM PRIVATE
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"${GMOCK_INCLUDE_DIRS}")
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target_link_libraries("${NAME}" PUBLIC ${GMOCK_LIBRARIES})
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add_test(${NAME} ${NAME})
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endfunction()
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function(google_binary NAME)
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_parse_arguments("${ARGN}")
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add_executable(${NAME} ${ARG_SRCS})
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_common_compile_stuff("PRIVATE")
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install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
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endfunction()
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# Create a variable 'VAR_NAME'='FLAG'. If VAR_NAME is already set, FLAG is
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# appended.
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function(google_add_flag VAR_NAME FLAG)
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if (${VAR_NAME})
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set(${VAR_NAME} "${${VAR_NAME}} ${FLAG}" PARENT_SCOPE)
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else()
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set(${VAR_NAME} "${FLAG}" PARENT_SCOPE)
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endif()
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endfunction()
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macro(google_initialize_cartographer_project)
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if(CARTOGRAPHER_CMAKE_DIR)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
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${CARTOGRAPHER_CMAKE_DIR}/modules)
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else()
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
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${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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endif()
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if(WIN32)
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# TODO turn on equivalent warnings on Windows
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else()
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set(GOOG_CXX_FLAGS "-pthread -fPIC ${GOOG_CXX_FLAGS}")
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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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# clalancette: disable deprecated declarations; there is currently no way to
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# compile cartographer warning-free with this on
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google_add_flag(GOOG_CXX_FLAGS "-Wno-deprecated-declarations")
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# Turn some warnings into errors.
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google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=missing-braces")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
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google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
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if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
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google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
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endif()
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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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if(FORCE_DEBUG_BUILD)
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message(WARNING "Building in Debug mode, expect very slow performance.")
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google_add_flag(GOOG_CXX_FLAGS "-g")
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else()
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message(FATAL_ERROR
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"Compiling in Debug mode is not supported and can cause severely degraded performance. "
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"You should change the build type to Release. If you want to build in Debug mode anyway, "
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"call CMake with -DFORCE_DEBUG_BUILD=True"
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)
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endif()
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# Support for Debian packaging CMAKE_BUILD_TYPE
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elseif(CMAKE_BUILD_TYPE STREQUAL "None")
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message(WARNING "Building with CMAKE_BUILD_TYPE None, "
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"please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
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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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# Add a hook that reruns CMake when source files are added or removed.
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set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
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set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
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set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
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add_custom_target(${PROJECT_NAME}_detect_changes ALL
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COMMAND ${DETECT_CHANGES_CMD}
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VERBATIM
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)
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if(NOT EXISTS ${FILES_LIST_PATH})
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execute_process(COMMAND ${DETECT_CHANGES_CMD})
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endif()
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include(${FILES_LIST_PATH})
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endif()
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endmacro()
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macro(google_enable_testing)
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enable_testing()
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find_package(GMock REQUIRED)
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endmacro()
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@@ -0,0 +1,30 @@
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# Copyright 2018 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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find_package(Eigen3 QUIET NO_MODULE)
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if (NOT EIGEN3_FOUND)
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list(APPEND EIGEN3_POSSIBLE_DIRS
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/usr/local/include/eigen3
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/usr/include/eigen3
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)
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find_path(EIGEN3_INCLUDE_DIR
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NAMES Eigen/Core
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PATHS ${EIGEN3_POSSIBLE_DIRS}
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)
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if (EIGEN3_INCLUDE_DIR AND EXISTS ${EIGEN3_INCLUDE_DIR})
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set(EIGEN3_FOUND TRUE)
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else()
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message(WARNING "Failed to find Eigen3. Please, define the path manually.")
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endif()
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endif()
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@@ -0,0 +1,94 @@
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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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if(NOT GMock_FOUND)
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find_path(GMOCK_INCLUDE_DIRS gmock/gmock.h
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HINTS
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ENV GMOCK_DIR
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PATH_SUFFIXES include
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PATHS
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/usr
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)
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# Find system-wide installed gmock.
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find_library(GMOCK_LIBRARIES
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NAMES gmock_main
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HINTS
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ENV GMOCK_DIR
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PATH_SUFFIXES lib
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PATHS
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/usr
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)
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if(GMOCK_LIBRARIES)
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find_library(GMOCK_LIBRARY
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NAMES gmock
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HINTS
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ENV GMOCK_DIR
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PATH_SUFFIXES lib
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PATHS
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/usr
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)
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find_library(GTEST_LIBRARY
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NAMES gtest
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HINTS
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ENV GMOCK_DIR
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PATH_SUFFIXES lib
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PATHS
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/usr
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)
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list(APPEND GMOCK_LIBRARIES ${GMOCK_LIBRARY} ${GTEST_LIBRARY})
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endif()
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# Find system-wide gtest header.
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find_path(GTEST_INCLUDE_DIRS gtest/gtest.h
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HINTS
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ENV GTEST_DIR
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PATH_SUFFIXES include
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PATHS
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/usr
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)
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list(APPEND GMOCK_INCLUDE_DIRS ${GTEST_INCLUDE_DIRS})
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if(NOT GMOCK_LIBRARIES)
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# If no system-wide gmock found, then find src version.
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# Ubuntu might have this.
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find_path(GMOCK_SRC_DIR src/gmock.cc
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HINTS
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ENV GMOCK_DIR
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PATHS
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/usr/src/googletest/googlemock
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/usr/src/gmock
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)
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if(GMOCK_SRC_DIR)
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# If src version found, build it.
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if(NOT TARGET gmock)
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add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock"
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EXCLUDE_FROM_ALL)
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endif()
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set(GMOCK_LIBRARIES gmock_main)
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set(GMOCK_INCLUDE_DIRS ${GMOCK_SRC_DIR}/include)
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endif()
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endif()
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# System-wide installed gmock library might require pthreads.
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find_package(Threads REQUIRED)
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list(APPEND GMOCK_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(GMock DEFAULT_MSG GMOCK_LIBRARIES
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GMOCK_INCLUDE_DIRS)
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# Mitigate build issue with Catkin
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set(GMOCK_FOUND FALSE)
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@@ -0,0 +1,220 @@
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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.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
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#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
# TODO(hrapp): Take from the cmake master branch and simplified. As soon as we
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# require a CMakeVersion that ships with this, remove again.
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#.rst:
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# FindLua
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# -------
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||||
#
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||||
#
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||||
#
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# Locate Lua library This module defines
|
||||
#
|
||||
# ::
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#
|
||||
# LUA_FOUND - if false, do not try to link to Lua
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# LUA_LIBRARIES - both lua and lualib
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# LUA_INCLUDE_DIR - where to find lua.h
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# LUA_VERSION_STRING - the version of Lua found
|
||||
# LUA_VERSION_MAJOR - the major version of Lua
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||||
# LUA_VERSION_MINOR - the minor version of Lua
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||||
# LUA_VERSION_PATCH - the patch version of Lua
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||||
#
|
||||
#
|
||||
#
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||||
# Note that the expected include convention is
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#
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||||
# ::
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#
|
||||
# #include "lua.h"
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#
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||||
# and not
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#
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||||
# ::
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||||
#
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||||
# #include <lua/lua.h>
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||||
#
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||||
# This is because, the lua location is not standardized and may exist in
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# locations other than lua/
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|
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#=============================================================================
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# Copyright 2007-2009 Kitware, Inc.
|
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# Copyright 2013 Rolf Eike Beer <eike@sf-mail.de>
|
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#
|
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# Distributed under the OSI-approved BSD License (the "License");
|
||||
# see accompanying file Copyright.txt for details.
|
||||
#
|
||||
# This software is distributed WITHOUT ANY WARRANTY; without even the
|
||||
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
# See the License for more information.
|
||||
#=============================================================================
|
||||
# (To distribute this file outside of CMake, substitute the full
|
||||
# License text for the above reference.)
|
||||
|
||||
unset(_lua_include_subdirs)
|
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unset(_lua_library_names)
|
||||
unset(_lua_append_versions)
|
||||
|
||||
# this is a function only to have all the variables inside go away automatically
|
||||
function(_lua_set_version_vars)
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set(LUA_VERSIONS5 5.3 5.2)
|
||||
|
||||
if (Lua_FIND_VERSION_EXACT)
|
||||
if (Lua_FIND_VERSION_COUNT GREATER 1)
|
||||
set(_lua_append_versions ${Lua_FIND_VERSION_MAJOR}.${Lua_FIND_VERSION_MINOR})
|
||||
endif ()
|
||||
elseif (Lua_FIND_VERSION)
|
||||
# once there is a different major version supported this should become a loop
|
||||
if (NOT Lua_FIND_VERSION_MAJOR GREATER 5)
|
||||
if (Lua_FIND_VERSION_COUNT EQUAL 1)
|
||||
set(_lua_append_versions ${LUA_VERSIONS5})
|
||||
else ()
|
||||
foreach (subver IN LISTS LUA_VERSIONS5)
|
||||
if (NOT subver VERSION_LESS ${Lua_FIND_VERSION})
|
||||
list(APPEND _lua_append_versions ${subver})
|
||||
endif ()
|
||||
endforeach ()
|
||||
endif ()
|
||||
endif ()
|
||||
else ()
|
||||
# once there is a different major version supported this should become a loop
|
||||
set(_lua_append_versions ${LUA_VERSIONS5})
|
||||
endif ()
|
||||
|
||||
list(APPEND _lua_include_subdirs "include/lua" "include")
|
||||
|
||||
foreach (ver IN LISTS _lua_append_versions)
|
||||
string(REGEX MATCH "^([0-9]+)\\.([0-9]+)$" _ver "${ver}")
|
||||
list(APPEND _lua_include_subdirs
|
||||
include/lua${CMAKE_MATCH_1}${CMAKE_MATCH_2}
|
||||
include/lua${CMAKE_MATCH_1}.${CMAKE_MATCH_2}
|
||||
include/lua-${CMAKE_MATCH_1}.${CMAKE_MATCH_2}
|
||||
)
|
||||
list(APPEND _lua_library_names
|
||||
lua${CMAKE_MATCH_1}${CMAKE_MATCH_2}
|
||||
lua${CMAKE_MATCH_1}.${CMAKE_MATCH_2}
|
||||
lua-${CMAKE_MATCH_1}.${CMAKE_MATCH_2}
|
||||
lua.${CMAKE_MATCH_1}.${CMAKE_MATCH_2}
|
||||
)
|
||||
endforeach ()
|
||||
|
||||
set(_lua_include_subdirs "${_lua_include_subdirs}" PARENT_SCOPE)
|
||||
set(_lua_library_names "${_lua_library_names}" PARENT_SCOPE)
|
||||
set(_lua_append_versions "${_lua_append_versions}" PARENT_SCOPE)
|
||||
endfunction(_lua_set_version_vars)
|
||||
|
||||
function(_lua_check_header_version _hdr_file)
|
||||
# At least 5.[012] have different ways to express the version
|
||||
# so all of them need to be tested. Lua 5.2 defines LUA_VERSION
|
||||
# and LUA_RELEASE as joined by the C preprocessor, so avoid those.
|
||||
file(STRINGS "${_hdr_file}" lua_version_strings
|
||||
REGEX "^#define[ \t]+LUA_(RELEASE[ \t]+\"Lua [0-9]|VERSION([ \t]+\"Lua [0-9]|_[MR])).*")
|
||||
|
||||
string(REGEX REPLACE ".*;#define[ \t]+LUA_VERSION_MAJOR[ \t]+\"([0-9])\"[ \t]*;.*" "\\1" LUA_VERSION_MAJOR ";${lua_version_strings};")
|
||||
if (LUA_VERSION_MAJOR MATCHES "^[0-9]+$")
|
||||
string(REGEX REPLACE ".*;#define[ \t]+LUA_VERSION_MINOR[ \t]+\"([0-9])\"[ \t]*;.*" "\\1" LUA_VERSION_MINOR ";${lua_version_strings};")
|
||||
string(REGEX REPLACE ".*;#define[ \t]+LUA_VERSION_RELEASE[ \t]+\"([0-9])\"[ \t]*;.*" "\\1" LUA_VERSION_PATCH ";${lua_version_strings};")
|
||||
set(LUA_VERSION_STRING "${LUA_VERSION_MAJOR}.${LUA_VERSION_MINOR}.${LUA_VERSION_PATCH}")
|
||||
else ()
|
||||
string(REGEX REPLACE ".*;#define[ \t]+LUA_RELEASE[ \t]+\"Lua ([0-9.]+)\"[ \t]*;.*" "\\1" LUA_VERSION_STRING ";${lua_version_strings};")
|
||||
if (NOT LUA_VERSION_STRING MATCHES "^[0-9.]+$")
|
||||
string(REGEX REPLACE ".*;#define[ \t]+LUA_VERSION[ \t]+\"Lua ([0-9.]+)\"[ \t]*;.*" "\\1" LUA_VERSION_STRING ";${lua_version_strings};")
|
||||
endif ()
|
||||
string(REGEX REPLACE "^([0-9]+)\\.[0-9.]*$" "\\1" LUA_VERSION_MAJOR "${LUA_VERSION_STRING}")
|
||||
string(REGEX REPLACE "^[0-9]+\\.([0-9]+)[0-9.]*$" "\\1" LUA_VERSION_MINOR "${LUA_VERSION_STRING}")
|
||||
string(REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]).*" "\\1" LUA_VERSION_PATCH "${LUA_VERSION_STRING}")
|
||||
endif ()
|
||||
foreach (ver IN LISTS _lua_append_versions)
|
||||
if (ver STREQUAL "${LUA_VERSION_MAJOR}.${LUA_VERSION_MINOR}")
|
||||
set(LUA_VERSION_MAJOR ${LUA_VERSION_MAJOR} PARENT_SCOPE)
|
||||
set(LUA_VERSION_MINOR ${LUA_VERSION_MINOR} PARENT_SCOPE)
|
||||
set(LUA_VERSION_PATCH ${LUA_VERSION_PATCH} PARENT_SCOPE)
|
||||
set(LUA_VERSION_STRING ${LUA_VERSION_STRING} PARENT_SCOPE)
|
||||
return()
|
||||
endif ()
|
||||
endforeach ()
|
||||
endfunction(_lua_check_header_version)
|
||||
|
||||
_lua_set_version_vars()
|
||||
|
||||
if (LUA_INCLUDE_DIR AND EXISTS "${LUA_INCLUDE_DIR}/lua.h")
|
||||
_lua_check_header_version("${LUA_INCLUDE_DIR}/lua.h")
|
||||
endif ()
|
||||
|
||||
if (NOT LUA_VERSION_STRING)
|
||||
foreach (subdir IN LISTS _lua_include_subdirs)
|
||||
unset(LUA_INCLUDE_PREFIX CACHE)
|
||||
find_path(LUA_INCLUDE_PREFIX ${subdir}/lua.h
|
||||
HINTS
|
||||
ENV LUA_DIR
|
||||
PATHS
|
||||
~/Library/Frameworks
|
||||
/Library/Frameworks
|
||||
/sw # Fink
|
||||
/opt/local # DarwinPorts
|
||||
/opt/csw # Blastwave
|
||||
/opt
|
||||
)
|
||||
if (LUA_INCLUDE_PREFIX)
|
||||
_lua_check_header_version("${LUA_INCLUDE_PREFIX}/${subdir}/lua.h")
|
||||
if (LUA_VERSION_STRING)
|
||||
set(LUA_INCLUDE_DIR "${LUA_INCLUDE_PREFIX}/${subdir}")
|
||||
break()
|
||||
endif ()
|
||||
endif ()
|
||||
endforeach ()
|
||||
endif ()
|
||||
unset(_lua_include_subdirs)
|
||||
unset(_lua_append_versions)
|
||||
|
||||
find_library(LUA_LIBRARY
|
||||
NAMES ${_lua_library_names} lua
|
||||
HINTS
|
||||
ENV LUA_DIR
|
||||
PATH_SUFFIXES lib
|
||||
PATHS
|
||||
~/Library/Frameworks
|
||||
/Library/Frameworks
|
||||
/sw
|
||||
/opt/local
|
||||
/opt/csw
|
||||
/opt
|
||||
)
|
||||
unset(_lua_library_names)
|
||||
|
||||
if (LUA_LIBRARY)
|
||||
# include the math library for Unix
|
||||
if (UNIX AND NOT APPLE AND NOT BEOS)
|
||||
find_library(LUA_MATH_LIBRARY m)
|
||||
set(LUA_LIBRARIES "${LUA_LIBRARY};${LUA_MATH_LIBRARY}")
|
||||
# For Windows and Mac, don't need to explicitly include the math library
|
||||
else ()
|
||||
set(LUA_LIBRARIES "${LUA_LIBRARY}")
|
||||
endif ()
|
||||
endif ()
|
||||
|
||||
# handle the QUIETLY and REQUIRED arguments and set LUA_FOUND to TRUE if
|
||||
# all listed variables are TRUE
|
||||
FIND_PACKAGE_HANDLE_STANDARD_ARGS(Lua
|
||||
REQUIRED_VARS LUA_LIBRARIES LUA_INCLUDE_DIR
|
||||
VERSION_VAR LUA_VERSION_STRING)
|
||||
mark_as_advanced(LUA_INCLUDE_DIR LUA_LIBRARY LUA_MATH_LIBRARY)
|
||||
|
||||
if (NOT LUA_FOUND)
|
||||
MESSAGE(FATAL_ERROR "Did not find Lua >= 5.2.")
|
||||
endif ()
|
||||
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
# Copyright 2016 The Cartographer Authors
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
# TODO(hrapp): Replace through the one of ceres
|
||||
|
||||
find_program(SPHINX_EXECUTABLE
|
||||
NAMES sphinx-build
|
||||
PATHS
|
||||
/usr/bin
|
||||
DOC "Sphinx")
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(Sphinx DEFAULT_MSG SPHINX_EXECUTABLE)
|
||||
Reference in New Issue
Block a user