added CMake package / module config for external projects

CMakeLists.txt

@@ -5,7 +5,7 @@ PROJECT( octomap )
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 1)
 set(OCTOMAP_PATCH_VERSION 0)
-
+set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 # get rid of a useless warning:
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)
@@ -15,6 +15,7 @@ endif(COMMAND cmake_policy)
 INCLUDE(CMakeModules/CompilerSettings.cmake)
 
 #If we are compiling with ROS support, we need to get the appropriate includes and link flags and such
+# (thx to E.Perko for patch!)
 if(WITH_ROS)
        include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
        set(ROSBUILD_DONT_REDEFINE_PROJECT true)
@@ -60,6 +61,40 @@ install(FILES ${octomap_HDRS}	DESTINATION include/octomap)
 file(GLOB octomap_math_HDRS ${CMAKE_SOURCE_DIR}/include/octomap/math/*.h)
 install(FILES ${octomap_math_HDRS}	DESTINATION include/octomap/math)
 
+# Export the package for use from the build-tree
+# (this registers the build-tree with a global CMake-registry)
+export(PACKAGE octomap)
+
+# Create a octomap-config.cmake file for the use from the build tree
+set(OCTOMAP_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/include")
+set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+# not used right now (export depends?)
+#set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
+configure_file(octomap-config.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake" @ONLY)
+configure_file(octomap-config-version.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake" @ONLY)
+
+# Install the export set for use with the install-tree
+#install(EXPORT FooBarLibraryDepends DESTINATION
+#  "${INSTALL_DATA_DIR}/FooBar/CMake"
+#  COMPONENT dev)
+
+# Create a octomap-config.cmake file for the use from the install tree
+# and install it
+set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
+set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+#set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
+configure_file(octomap-config.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
+configure_file(octomap-config-version.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" @ONLY)
+install(FILES
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
+  DESTINATION lib/cmake/octomap/)
+
+
 
 # Documentation 
 FIND_PACKAGE(Doxygen)
@@ -69,40 +104,8 @@ IF(DOXYGEN_FOUND)
     COMMENT "Generating documentation (Doxygen)...")
 ENDIF(DOXYGEN_FOUND)
 
-
-SET( BUILD_VIEWER 0)
-
-FIND_PACKAGE(OpenGL)
-IF(NOT OPENGL_FOUND)
-  MESSAGE ( "\n")
-  MESSAGE ( "OpenGL not found. \n")
-ELSE()
-  MESSAGE (STATUS "OpenGL found at ${OPENGL_LIBRARY}")
-
-  # Look for Qt4
-  FIND_PACKAGE(Qt4)
-  IF(QT4_FOUND)
-    FIND_PACKAGE(QGLViewer)
-    IF(QGLViewer_FOUND)
-      SET( BUILD_VIEWER 1)
-    ELSE()
-      MESSAGE ( "\n")
-      MESSAGE ( "libQGLViewer could not be found or generated.")
-    ENDIF()
-  ELSE()
-    MESSAGE ( "\n")
-    MESSAGE ( "Qt4 development environment could not be found.")
-  ENDIF()
-ENDIF()
-
-IF(BUILD_VIEWER)
-  MESSAGE(STATUS "\n")
-  MESSAGE(STATUS "viewer octovis will be built")
-  ADD_SUBDIRECTORY( src/octovis ) 
-ELSE()
-    MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
-    MESSAGE ( "See README.txt or http://octomap.sf.net for further information.\n")
-ENDIF()
+# Build viewer if available:
+INCLUDE(CMakeModules/BuildGLViewer.cmake)
 
 # Needs to be last statement:
 INCLUDE(CMakeModules/CPackSettings.cmake)

CMakeModules/BuildGLViewer.cmake

@@ -0,0 +1,34 @@
+# Builds the "octovis" viewer based on OpenGL and libQGLViewer, if dependencies available
+SET( BUILD_VIEWER 0)
+
+FIND_PACKAGE(OpenGL)
+IF(NOT OPENGL_FOUND)
+  MESSAGE ( "\n")
+  MESSAGE ( "OpenGL not found. \n")
+ELSE()
+  MESSAGE (STATUS "OpenGL found at ${OPENGL_LIBRARY}")
+
+  # Look for Qt4
+  FIND_PACKAGE(Qt4)
+  IF(QT4_FOUND)
+    FIND_PACKAGE(QGLViewer)
+    IF(QGLViewer_FOUND)
+      SET( BUILD_VIEWER 1)
+    ELSE()
+      MESSAGE ( "\n")
+      MESSAGE ( "libQGLViewer could not be found or generated.")
+    ENDIF()
+  ELSE()
+    MESSAGE ( "\n")
+    MESSAGE ( "Qt4 development environment could not be found.")
+  ENDIF()
+ENDIF()
+
+IF(BUILD_VIEWER)
+  MESSAGE(STATUS "\n")
+  MESSAGE(STATUS "viewer octovis will be built")
+  ADD_SUBDIRECTORY( src/octovis ) 
+ELSE()
+    MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
+    MESSAGE ( "See README.txt or http://octomap.sf.net for further information.\n")
+ENDIF()

CMakeModules/CPackSettings.cmake

@@ -1,5 +1,5 @@
 # Package building stuff - Experimental!
-SET(CPACK_PACKAGE_VERSION "${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION}")
+SET(CPACK_PACKAGE_VERSION "${OCTOMAP_VERSION}")
 SET(CPACK_PACKAGE_VERSION_MAJOR "${OCTOMAP_MAJOR_VERSION}")
 SET(CPACK_PACKAGE_VERSION_MINOR "${OCTOMAP_MINOR_VERSION}")
 SET(CPACK_PACKAGE_VERSION_PATCH "${OCTOMAP_PATCH_VERSION}")

octomap-config-version.cmake.in

@@ -0,0 +1,11 @@
+set(PACKAGE_VERSION "@OCTOMAP_VERSION@")
+
+# Check whether the requested PACKAGE_FIND_VERSION is compatible
+if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+  set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
+    set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()

octomap-config.cmake.in

@@ -0,0 +1,17 @@
+# - Config file for the OctoMap package
+# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
+# It defines the following variables
+#  OCTOMAP_INCLUDE_DIRS - include directories for OctoMap
+#  OCTOMAP_LIBRARY_DIRS - library directories for OctoMap (normally not used!)
+#  OCTOMAP_LIBRARIES    - libraries to link against
+
+# Tell the user project where to find our headers and libraries
+set(OCTOMAP_INCLUDE_DIRS "@OCTOMAP_INCLUDE_DIRS@")
+set(OCTOMAP_LIBRARY_DIRS "@OCTOMAP_LIB_DIR@")
+
+# Our library dependencies (contains definitions for IMPORTED targets)
+# include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
+
+set(OCTOMAP_LIBRARIES octomap octomath)
+
+#set(FOOBAR_EXECUTABLE bar)