Substituting Kindr's CMakeLists.txt file to find eigen

CMakeLists.txt

# Copyright (c) 2013, Christian Gehring, Hannes Sommer, Paul Furgale, Remo Diethelm
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Autonomous Systems Lab, ETH Zurich nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL Christian Gehring, Hannes Sommer, Paul Furgale,
# Remo Diethelm BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
# OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
# GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# Project configuration
cmake_minimum_required (VERSION 2.8)

project(kindr)

set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH})


if(NOT Eigen3_FIND_VERSION)
  if(NOT Eigen3_FIND_VERSION_MAJOR)
    set(Eigen3_FIND_VERSION_MAJOR 2)
  endif(NOT Eigen3_FIND_VERSION_MAJOR)
  if(NOT Eigen3_FIND_VERSION_MINOR)
    set(Eigen3_FIND_VERSION_MINOR 91)
  endif(NOT Eigen3_FIND_VERSION_MINOR)
  if(NOT Eigen3_FIND_VERSION_PATCH)
    set(Eigen3_FIND_VERSION_PATCH 0)
  endif(NOT Eigen3_FIND_VERSION_PATCH)

  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
endif(NOT Eigen3_FIND_VERSION)

macro(_eigen3_check_version)
  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")

  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
    set(EIGEN3_VERSION_OK FALSE)
  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
    set(EIGEN3_VERSION_OK TRUE)
  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})

  if(NOT EIGEN3_VERSION_OK)

    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
                   "but at least version ${Eigen3_FIND_VERSION} is required")
  endif(NOT EIGEN3_VERSION_OK)
endmacro(_eigen3_check_version)

if (EIGEN3_INCLUDE_DIR)

  # in cache already
  _eigen3_check_version()
  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})

else (EIGEN3_INCLUDE_DIR)

  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
      PATHS
      ${CMAKE_INSTALL_PREFIX}/include
      ${KDE4_INCLUDE_DIR}
      PATH_SUFFIXES eigen3 eigen
    )

  if(EIGEN3_INCLUDE_DIR)
    _eigen3_check_version()
  endif(EIGEN3_INCLUDE_DIR)

  include(FindPackageHandleStandardArgs)
  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)

  mark_as_advanced(EIGEN3_INCLUDE_DIR)

endif(EIGEN3_INCLUDE_DIR)


set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR})

include_directories(${EIGEN3_INCLUDE_DIR})

include_directories(include)

# Noisily default to Release build
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
  message(STATUS "Setting build type to 'Release' as none was specified.")
  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()

add_definitions(-std=c++11)

# Don't build tests if not specified.
if(NOT BUILD_TEST)
  message(STATUS "Setting build-tests to false as not specified.")
  set(BUILD_TEST false CACHE BOOL "Choose whether to build tests." FORCE)
  set_property(CACHE BUILD_TEST PROPERTY STRINGS
    "True" "False")
endif()

if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/gtest/" AND BUILD_TEST)
	message(STATUS "Building GTests!")
	option(BUILD_GTEST "build gtest" ON)
	add_subdirectory(gtest gtest)
	enable_testing()
endif()

# Add CMake module path
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})


install(DIRECTORY include/kindr DESTINATION include)

# Add unit tests
if(BUILD_GTEST)
	add_subdirectory(test)
endif()

# Add Doxygen documentation
add_subdirectory(doc/doxygen)

# Install catkin package.xml
#install(FILES package.xml DESTINATION share/kindr)


#=============================================
# 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 kindr)

# Create variable for the local build tree
get_property(kindr_include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)

# Configure config file for local build tree
configure_file(kindrConfig.cmake.in
  "${PROJECT_BINARY_DIR}/kindrConfig.cmake" @ONLY)

# 2- installation build #

# Change the include location for the case of an install location
set(kindr_include_dirs ${CMAKE_INSTALL_PREFIX}/include ${EIGEN3_INCLUDE_DIR})


# We put the generated file for installation in a different repository (i.e., ./CMakeFiles/)
configure_file(kindrConfig.cmake.in
  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/kindrConfig.cmake" @ONLY)

install(FILES
  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/kindrConfig.cmake"
  DESTINATION share/kindr/cmake COMPONENT dev)



#=============================================
# Add uninstall target
#=============================================
configure_file(
    "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
    IMMEDIATE @ONLY)

add_custom_target(uninstall
    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)


# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
#   find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
#  EIGEN3_FOUND - system has eigen lib with correct version
#  EIGEN3_INCLUDE_DIR - the eigen include directory
#  EIGEN3_VERSION - eigen version

# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
# Copyright (c) 2009 Benoit Jacob <[email protected]>
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.