forked from Archive/PX4-Autopilot
Merge pull request #114 from PX4/fix_linux_build
CMakeLists: use find_package Eigen3
This commit is contained in:
Lorenz Meier
commit
d595596c42
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@ -7,10 +7,10 @@ before_install:
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- sudo apt-get update -qq
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install:
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- sudo apt-get install -qq g++-4.8
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- sudo apt-get install -qq g++-4.8 libeigen3-dev
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- export CXX="g++-4.8"
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before_script:
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- chmod +x build.sh
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script: ./build.sh
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script: ./build.sh
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@ -35,14 +35,15 @@ cmake_minimum_required(VERSION 2.8)
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project (ECL CXX)
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set(CMAKE_BUILD_TYPE Release)
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set(CMAKE_CURRENT_SOURCE_DIR ./)
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set(CMAKE_CXX_FLAGS "-DPOSIX_SHARED")
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set(EIGEN3_INCLUDE_DIR "/usr/local/include/eigen3/")
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IF( NOT EIGEN3_INCLUDE_DIR )
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MESSAGE( FATAL_ERROR "Please point the environment variable EIGEN3_INCLUDE_DIR to the include directory of your Eigen3 installation.")
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ENDIF()
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INCLUDE_DIRECTORIES ( "${EIGEN3_INCLUDE_DIR}" )
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set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
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message("looking for FindEigen3.cmake in ${CMAKE_MODULE_PATH}")
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find_package(Eigen3 REQUIRED)
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if( NOT EIGEN3_INCLUDE_DIR )
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message( FATAL_ERROR "Eigen3 not found.")
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endif()
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if( NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/../matrix/.git" )
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message( SEND_ERROR "The git submodules are not available. Please run
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@ -54,9 +55,9 @@ include_directories(
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./
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../
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../matrix
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EIGEN3_INCLUDE_DIR
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${EIGEN3_INCLUDE_DIR}
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)
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set(SRCS
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set(SRCS
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estimator_interface.cpp
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ekf.cpp
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ekf_helper.cpp
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@ -70,4 +71,8 @@ set(SRCS
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mathlib.cpp
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)
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add_definitions(-std=c++11 -Wall -Werror)
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# Eigen throws various warnings
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add_definitions(-Wno-deprecated-declarations -Wno-enum-compare -Wno-unused-local-typedefs)
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add_library(ecl SHARED ${SRCS})
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@ -0,0 +1,90 @@
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# - Try to find Eigen3 lib
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#
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# This module supports requiring a minimum version, e.g. you can do
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# find_package(Eigen3 3.1.2)
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# to require version 3.1.2 or newer of Eigen3.
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#
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# Once done this will define
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#
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# EIGEN3_FOUND - system has eigen lib with correct version
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# EIGEN3_INCLUDE_DIR - the eigen include directory
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# EIGEN3_VERSION - eigen version
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#
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# This module reads hints about search locations from
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# the following enviroment variables:
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#
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# EIGEN3_ROOT
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# EIGEN3_ROOT_DIR
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# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
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# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
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# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
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# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
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if(NOT Eigen3_FIND_VERSION)
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if(NOT Eigen3_FIND_VERSION_MAJOR)
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set(Eigen3_FIND_VERSION_MAJOR 2)
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endif(NOT Eigen3_FIND_VERSION_MAJOR)
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if(NOT Eigen3_FIND_VERSION_MINOR)
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set(Eigen3_FIND_VERSION_MINOR 91)
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endif(NOT Eigen3_FIND_VERSION_MINOR)
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if(NOT Eigen3_FIND_VERSION_PATCH)
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set(Eigen3_FIND_VERSION_PATCH 0)
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endif(NOT Eigen3_FIND_VERSION_PATCH)
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set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
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endif(NOT Eigen3_FIND_VERSION)
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macro(_eigen3_check_version)
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file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
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string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
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set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
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set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
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set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
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set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
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if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
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set(EIGEN3_VERSION_OK FALSE)
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else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
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set(EIGEN3_VERSION_OK TRUE)
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endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
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if(NOT EIGEN3_VERSION_OK)
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message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
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"but at least version ${Eigen3_FIND_VERSION} is required")
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endif(NOT EIGEN3_VERSION_OK)
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endmacro(_eigen3_check_version)
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if (EIGEN3_INCLUDE_DIR)
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# in cache already
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_eigen3_check_version()
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set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
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else (EIGEN3_INCLUDE_DIR)
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find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
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HINTS
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ENV EIGEN3_ROOT
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ENV EIGEN3_ROOT_DIR
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PATHS
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${CMAKE_INSTALL_PREFIX}/include
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${KDE4_INCLUDE_DIR}
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PATH_SUFFIXES eigen3 eigen
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)
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if(EIGEN3_INCLUDE_DIR)
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_eigen3_check_version()
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endif(EIGEN3_INCLUDE_DIR)
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
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mark_as_advanced(EIGEN3_INCLUDE_DIR)
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endif(EIGEN3_INCLUDE_DIR)
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36
README.md
36
README.md
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@ -1,6 +1,6 @@
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# ECL
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#### Very lightweight Estimation & Control Library.
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**Very lightweight Estimation & Control Library.**
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[](https://travis-ci.org/PX4/ecl)
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@ -8,11 +8,35 @@ This library solves the estimation & control problems of a number of robots and
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The library is currently BSD licensed, but might move to Apache 2.0.
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## Building EKF Library
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Prerequisite:
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### Prerequisites:
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* Eigen3: http://eigen.tuxfamily.org/index.php installed
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#### Ubuntu:
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```
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sudo apt-get install libeigen3-dev
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```
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#### Mac
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```
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brew install eigen
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```
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By following the steps mentioned below you can create a shared library which can be included in projects using `-l` flag of gcc:
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* mkdir Build/
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* cd Build/
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* cmake ../EKF
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* make
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```
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mkdir Build/
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cd Build/
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cmake ../EKF
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make
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```
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Alternatively, just run:
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```
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./build.sh
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```
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18
build.sh
18
build.sh
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@ -1,6 +1,7 @@
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#!/bin/sh
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############################################################################
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#
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# Copyright (c) 2015 ECL Development Team. All rights reserved.
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# Copyright (c) 2015-2016 ECL Development Team. All rights reserved.
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#
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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
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@ -31,19 +32,12 @@
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#
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############################################################################
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#download, build and install eigen
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wget -O eigen.tar.bz2 http://bitbucket.org/eigen/eigen/get/3.2.8.tar.bz2
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mkdir eigen
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tar -xvjf eigen.tar.bz2 -C eigen --strip-components=1
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mkdir eigen-build
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cd eigen-build
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cmake ../eigen
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make
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sudo make install
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# Exit on any error.
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set -e
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#build EKF shared library
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cd ..
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# Build EKF shared library.
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mkdir Build
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cd Build
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cmake ../EKF
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make
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cd ..
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