created 2 libraries, one with and one without exports

Signed-off-by: Marwan Taher <marokhaled99@gmail.com>

grid_map_filters/CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(grid_map_cmake_helpers REQUIRED)
 find_package(grid_map_core REQUIRED)
 find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
+find_package(pluginlib REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 find_package(PkgConfig REQUIRED)
@@ -32,6 +33,9 @@ set(dependencies
   grid_map_ros
 )
 
+set(LIBRARY ${PROJECT_NAME})
+set(PLUGINS_LIBRARY ${PROJECT_NAME}_PLUGINS)
+
 ###########
 ## Build ##
 ###########
@@ -44,55 +48,84 @@ include_directories(
 )
 
 ## Declare a cpp library
-add_library(${PROJECT_NAME}
-  src/ThresholdFilter.cpp
-  src/MinInRadiusFilter.cpp
-  src/MeanInRadiusFilter.cpp
-  src/NormalVectorsFilter.cpp
-  src/CurvatureFilter.cpp
-  src/NormalColorMapFilter.cpp
-  src/LightIntensityFilter.cpp
-  src/MathExpressionFilter.cpp
-  src/SlidingWindowMathExpressionFilter.cpp
-  src/DuplicationFilter.cpp
-  src/DeletionFilter.cpp
-  src/ColorFillFilter.cpp
-  src/ColorMapFilter.cpp
-  src/ColorBlendingFilter.cpp
-  src/SetBasicLayersFilter.cpp
-  src/BufferNormalizerFilter.cpp
+add_library(${LIBRARY}
+  src/grid_map_filters/ThresholdFilter.cpp
+  src/grid_map_filters/MinInRadiusFilter.cpp
+  src/grid_map_filters/MeanInRadiusFilter.cpp
+  src/grid_map_filters/NormalVectorsFilter.cpp
+  src/grid_map_filters/CurvatureFilter.cpp
+  src/grid_map_filters/NormalColorMapFilter.cpp
+  src/grid_map_filters/LightIntensityFilter.cpp
+  src/grid_map_filters/MathExpressionFilter.cpp
+  src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp
+  src/grid_map_filters/DuplicationFilter.cpp
+  src/grid_map_filters/DeletionFilter.cpp
+  src/grid_map_filters/ColorFillFilter.cpp
+  src/grid_map_filters/ColorMapFilter.cpp
+  src/grid_map_filters/ColorBlendingFilter.cpp
+  src/grid_map_filters/SetBasicLayersFilter.cpp
+  src/grid_map_filters/BufferNormalizerFilter.cpp
 )
 
-ament_target_dependencies(${PROJECT_NAME}
+ament_target_dependencies(${LIBRARY}
   ${dependencies}
 )
 
-target_compile_options(${PROJECT_NAME} PRIVATE "SHELL:--param ggc-min-expand=1")
-target_compile_options(${PROJECT_NAME} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
+target_compile_options(${LIBRARY} PRIVATE "SHELL:--param ggc-min-expand=1")
+target_compile_options(${LIBRARY} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
+
+## Declare plugins library
+add_library(${PLUGINS_LIBRARY}
+  src/plugins/ThresholdFilterPlugin.cpp
+  src/plugins/MinInRadiusFilterPlugin.cpp
+  src/plugins/MeanInRadiusFilterPlugin.cpp
+  src/plugins/NormalVectorsFilterPlugin.cpp
+  src/plugins/CurvatureFilterPlugin.cpp
+  src/plugins/NormalColorMapFilterPlugin.cpp
+  src/plugins/LightIntensityFilterPlugin.cpp
+  src/plugins/MathExpressionFilterPlugin.cpp
+  src/plugins/SlidingWindowMathExpressionFilterPlugin.cpp
+  src/plugins/DuplicationFilterPlugin.cpp
+  src/plugins/DeletionFilterPlugin.cpp
+  src/plugins/ColorFillFilterPlugin.cpp
+  src/plugins/ColorMapFilterPlugin.cpp
+  src/plugins/ColorBlendingFilterPlugin.cpp
+  src/plugins/SetBasicLayersFilterPlugin.cpp
+  src/plugins/BufferNormalizerFilterPlugin.cpp
+)
+
+target_link_libraries(${PLUGINS_LIBRARY} ${LIBRARY})
+
+ament_target_dependencies(${PLUGINS_LIBRARY}
+  pluginlib
+)
+
+target_compile_options(${PLUGINS_LIBRARY} PRIVATE "SHELL:--param ggc-min-expand=1")
+target_compile_options(${PLUGINS_LIBRARY} PRIVATE "SHELL:--param ggc-min-heapsize=32768")
 
 #############
 ## Install ##
 #############
 
 # Mark executables and/or libraries for installation
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${LIBRARY}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${LIBRARY}
 )
 
 # Mark cpp header files for installation
 install(
-  DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
+  DIRECTORY include/${LIBRARY}/
+  DESTINATION include/${LIBRARY}
   FILES_MATCHING PATTERN "*.hpp"
 )
 
 # Mark other files for installation
 install(
   FILES filter_plugins.xml
-  DESTINATION share/${PROJECT_NAME}
+  DESTINATION share/${PLUGINS_LIBRARY}
 )
 
 #############
@@ -130,5 +163,5 @@ ament_export_include_directories(
   ${TBB_INCLUDE_DIRS}
 )
 ament_export_dependencies(${dependencies})
-ament_export_libraries(${PROJECT_NAME})
+ament_export_libraries(${LIBRARY} ${PLUGINS_LIBRARY})
 ament_package()

grid_map_filters/src/BufferNormalizerFilter.cpp → grid_map_filters/src/grid_map_filters/BufferNormalizerFilter.cpp

@@ -35,7 +35,3 @@ bool BufferNormalizerFilter::update(const grid_map::GridMap & mapIn, grid_map::G
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::BufferNormalizerFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/ColorBlendingFilter.cpp → grid_map_filters/src/grid_map_filters/ColorBlendingFilter.cpp

@@ -166,7 +166,3 @@ bool ColorBlendingFilter::update(const grid_map::GridMap & mapIn, grid_map::Grid
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorBlendingFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/ColorFillFilter.cpp → grid_map_filters/src/grid_map_filters/ColorFillFilter.cpp

@@ -94,7 +94,3 @@ bool ColorFillFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorFillFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/ColorMapFilter.cpp → grid_map_filters/src/grid_map_filters/ColorMapFilter.cpp

@@ -121,7 +121,3 @@ bool ColorMapFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap &
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ColorMapFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/CurvatureFilter.cpp → grid_map_filters/src/grid_map_filters/CurvatureFilter.cpp

@@ -88,7 +88,3 @@ bool CurvatureFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::CurvatureFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/DeletionFilter.cpp → grid_map_filters/src/grid_map_filters/DeletionFilter.cpp

@@ -61,7 +61,3 @@ bool DeletionFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap &
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::DeletionFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/DuplicationFilter.cpp → grid_map_filters/src/grid_map_filters/DuplicationFilter.cpp

@@ -51,7 +51,3 @@ bool DuplicationFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMa
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::DuplicationFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/LightIntensityFilter.cpp → grid_map_filters/src/grid_map_filters/LightIntensityFilter.cpp

@@ -99,7 +99,3 @@ bool LightIntensityFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::LightIntensityFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/MathExpressionFilter.cpp → grid_map_filters/src/grid_map_filters/MathExpressionFilter.cpp

@@ -57,7 +57,3 @@ bool MathExpressionFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MathExpressionFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/MeanInRadiusFilter.cpp → grid_map_filters/src/grid_map_filters/MeanInRadiusFilter.cpp

@@ -105,7 +105,3 @@ bool MeanInRadiusFilter::update(const grid_map::GridMap & mapIn, grid_map::GridM
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MeanInRadiusFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/MinInRadiusFilter.cpp → grid_map_filters/src/grid_map_filters/MinInRadiusFilter.cpp

@@ -116,7 +116,3 @@ bool MinInRadiusFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMa
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::MinInRadiusFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/NormalColorMapFilter.cpp → grid_map_filters/src/grid_map_filters/NormalColorMapFilter.cpp

@@ -76,7 +76,3 @@ bool NormalColorMapFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::NormalColorMapFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/NormalVectorsFilter.cpp → grid_map_filters/src/grid_map_filters/NormalVectorsFilter.cpp

@@ -478,7 +478,3 @@ void NormalVectorsFilter::rasterSingleNormalComputation(
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::NormalVectorsFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/SetBasicLayersFilter.cpp → grid_map_filters/src/grid_map_filters/SetBasicLayersFilter.cpp

@@ -58,7 +58,3 @@ bool SetBasicLayersFilter::update(const grid_map::GridMap & mapIn, grid_map::Gri
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::SetBasicLayersFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/SlidingWindowMathExpressionFilter.cpp → grid_map_filters/src/grid_map_filters/SlidingWindowMathExpressionFilter.cpp

@@ -117,7 +117,3 @@ bool SlidingWindowMathExpressionFilter::update(
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::SlidingWindowMathExpressionFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/ThresholdFilter.cpp → grid_map_filters/src/grid_map_filters/ThresholdFilter.cpp

@@ -103,7 +103,3 @@ bool ThresholdFilter::update(const grid_map::GridMap & mapIn, grid_map::GridMap
 }
 
 }  // namespace grid_map
-
-PLUGINLIB_EXPORT_CLASS(
-  grid_map::ThresholdFilter,
-  filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/BufferNormalizerFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * BufferNormalizerFilter.cpp
+ *
+ *  Created on: Aug 18, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/BufferNormalizerFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::BufferNormalizerFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/ColorBlendingFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * ColorBlendingFilter.cpp
+ *
+ *  Created on: Sep 14, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorBlendingFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorBlendingFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/ColorFillFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * ColorFillFilter.cpp
+ *
+ *  Created on: Sep 14, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorFillFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorFillFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/ColorMapFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * ColorMapFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/ColorMapFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::ColorMapFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/CurvatureFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * CurvatureFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/CurvatureFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::CurvatureFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/DeletionFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * DeletionFilter.cpp
+ *
+ *  Created on: Mar 19, 2015
+ *      Author: Martin Wermelinger, Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/DeletionFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::DeletionFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/DuplicationFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * DuplicationFilter.cpp
+ *
+ *  Created on: Aug 18, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/DuplicationFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::DuplicationFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/LightIntensityFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * LightIntensityFilter.cpp
+ *
+ *  Created on: Sep 23, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/LightIntensityFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::LightIntensityFilter, filters::FilterBase<grid_map::GridMap>)

grid_map_filters/src/plugins/MathExpressionFilterPlugin.cpp

@@ -0,0 +1,13 @@
+/*
+ * MathExpressionFilter.cpp
+ *
+ *  Created on: Aug 16, 2017
+ *      Author: Peter Fankhauser
+ *   Institute: ETH Zurich, ANYbotics
+ */
+
+#include <pluginlib/class_list_macros.hpp>
+
+#include "grid_map_filters/MathExpressionFilter.hpp"
+
+PLUGINLIB_EXPORT_CLASS(grid_map::MathExpressionFilter, filters::FilterBase<grid_map::GridMap>)