more CMake tweaks: uninstall target, build static and dynamic libs

FrankXie05 · Jul 26, 2011 · 837116a · 837116a
1 parent 7684acb
commit 837116a
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Showing 8 changed files with 72 additions and 29 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -61,6 +61,16 @@ 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)
 
+# uninstall target
+configure_file(
+    "CMakeModules/CMakeUninstall.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+    IMMEDIATE @ONLY)
+
+add_custom_target(uninstall
+    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+
+
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE octomap)
@@ -94,7 +104,13 @@ install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
   DESTINATION lib/cmake/octomap/)
 
-
+# Write pkgconfig-file:
+include(CMakeModules/InstallPkgConfigFile.cmake)
+install_pkg_config_file(octomap
+    CFLAGS
+    LIBS -loctomap -loctomath
+    REQUIRES
+    VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 
 # Documentation 
 FIND_PACKAGE(Doxygen)

diff --git a/CMakeModules/CMakeUninstall.cmake.in b/CMakeModules/CMakeUninstall.cmake.in
@@ -0,0 +1,22 @@
+if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+list(REVERSE files)
+foreach (file ${files})
+    message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+    if (EXISTS "$ENV{DESTDIR}${file}")
+        execute_process(
+            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
+            OUTPUT_VARIABLE rm_out
+            RESULT_VARIABLE rm_retval
+        )
+        if(NOT ${rm_retval} EQUAL 0)
+            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+        endif (NOT ${rm_retval} EQUAL 0)
+    else (EXISTS "$ENV{DESTDIR}${file}")
+        message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+    endif (EXISTS "$ENV{DESTDIR}${file}")
+endforeach(file)
diff --git a/CMakeModules/CPackSettings.cmake b/CMakeModules/CPackSettings.cmake
@@ -8,14 +8,8 @@ SET(CPACK_PACKAGE_CONTACT "K.M. Wurm and A. Hornung")
 SET(CPACK_PACKAGE_VENDOR "University of Freiburg")
 SET(CPACK_GENERATOR "DEB")
 SET(CPACK_SOURCE_GENERATOR "TGZ")
-
-
-include(CMakeModules/InstallPkgConfigFile.cmake)
-install_pkg_config_file(octomap
-    CFLAGS
-    LIBS -loctomap -loctomath
-    REQUIRES
-    VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
+SET(CPACK_SOURCE_PACKAGE_FILE_NAME
+  "${PROJECT_NAME}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
 
  # This must always be last statement!
 INCLUDE(CPack)

diff --git a/include/octomap/OccupancyOcTreeBase.h b/include/octomap/OccupancyOcTreeBase.h
@@ -430,7 +430,7 @@ namespace octomap {
 
 
   protected:
-
+    bool use_change_detection;
     bool use_bbx_limit;  ///< use bounding box for queries (needs to be set)?
     point3d bbx_min;
     point3d bbx_max;

diff --git a/include/octomap/OccupancyOcTreeBase.hxx b/include/octomap/OccupancyOcTreeBase.hxx
@@ -136,7 +136,7 @@ namespace octomap {
   void OccupancyOcTreeBase<NODE>::computeUpdate(const Pointcloud& scan, const octomap::point3d& origin,
                                                 KeySet& free_cells,
                                                 KeySet& occupied_cells,
-                                                double maxrange) {
+                                                double maxrange){
 
     for (Pointcloud::const_iterator point_it = scan.begin(); point_it != scan.end(); point_it++) {
       const point3d& p = *point_it;
@@ -223,10 +223,9 @@ namespace octomap {
   NODE* OccupancyOcTreeBase<NODE>::updateNode(const OcTreeKey& key, bool occupied, bool dirty) {
 
     NODE* leaf = this->search(key);
-    if (leaf) {
-      if ((isNodeAtThreshold(leaf)) && (isNodeOccupied(leaf) == occupied)) {
-        return leaf;
-      }
+    // no change: node already at threshold
+    if (leaf && (isNodeAtThreshold(leaf)) && (isNodeOccupied(leaf) == occupied)) {
+      return leaf;
     }
     return updateNodeRecurs(this->itsRoot, false, key, 0, occupied, dirty);
   }

diff --git a/src/octomap/CMakeLists.txt b/src/octomap/CMakeLists.txt
@@ -9,7 +9,12 @@ SET (octomap_SRCS
   OcTreeLUT.cpp
   )
 
-ADD_LIBRARY( octomap ${octomap_SRCS})
+# dynamic and static libs, see CMake FAQ:
+ADD_LIBRARY( octomap SHARED ${octomap_SRCS})
+ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS})
+SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap")
+SET_TARGET_PROPERTIES(octomap-static PROPERTIES PREFIX "lib")
+
 
 # Link in ROS libs e.g. for logging output if needed:
 if(WITH_ROS)
@@ -54,7 +59,9 @@ TARGET_LINK_LIBRARIES(test_lut octomap)
 # file(GLOB octomap_impl_HDRS *.h *.hxx *.hpp)
 # install(FILES ${octomap_impl_HDRS} DESTINATION include/octomap)
 
-install(TARGETS octomap 
+install(TARGETS 
+	octomap
+	octomap-static 
 	graph2tree
 	log2graph
 	binvox2bt

diff --git a/src/octomap/math/CMakeLists.txt b/src/octomap/math/CMakeLists.txt
@@ -5,11 +5,9 @@ SET (octomath_SRCS
  )
 
 
-ADD_LIBRARY( octomath ${octomath_SRCS})
+ADD_LIBRARY( octomath SHARED ${octomath_SRCS})
+ADD_LIBRARY( octomath-static STATIC ${octomath_SRCS})
+SET_TARGET_PROPERTIES(octomath-static PROPERTIES OUTPUT_NAME "octomath")
+SET_TARGET_PROPERTIES(octomath-static PROPERTIES PREFIX "lib")
 
-# store all header files to install:
-file(GLOB octomath_HDRS *.h *.hxx *.hpp)
-
-install(FILES ${octomath_HDRS}	DESTINATION include/octomath)
-
-install(TARGETS octomath ${INSTALL_TARGETS_DEFAULT_ARGS})
+install(TARGETS octomath octomath-static ${INSTALL_TARGETS_DEFAULT_ARGS})
diff --git a/src/octovis/CMakeLists.txt b/src/octovis/CMakeLists.txt
@@ -68,9 +68,15 @@ INCLUDE_DIRECTORIES(
 )
 
 # Library target 
-add_library(octovis_library ${viewerlib_SRCS})
-target_link_libraries(octovis_library)
-set_target_properties(octovis_library PROPERTIES OUTPUT_NAME octovis)
+add_library(octovis-static STATIC ${viewerlib_SRCS})
+target_link_libraries(octovis-static)
+set_target_properties(octovis-static PROPERTIES OUTPUT_NAME octovis)
+SET_TARGET_PROPERTIES(octovis-static PROPERTIES PREFIX "lib")
+
+add_library(octovis-shared SHARED ${viewerlib_SRCS})
+target_link_libraries(octovis-shared)
+set_target_properties(octovis-shared PROPERTIES OUTPUT_NAME octovis)
+
 
 # Now add these generated files to the ADD_EXECUTABLE step
 # If this is NOT done, then the ui_*.h files will not be generated
@@ -81,7 +87,7 @@ target_link_libraries(octovis
     ${QGLViewer_LIBRARIES}
 	${QT_LIBRARIES}
 	octomap 
-	octovis_library
+	octovis-shared
 )
 
 # special handling of MacOS X:
@@ -100,6 +106,7 @@ file(GLOB octovis_HDRS  *.h *.hxx *.hpp)
 install(FILES ${octovis_HDRS} DESTINATION include/octovis)
 
 install(TARGETS octovis
-  octovis_library
+  octovis-static
+  octovis-shared
   ${INSTALL_TARGETS_DEFAULT_ARGS}
 )