Removed the explicit '-std=c++14' compile flag (#119)

* Removed the explicit '-std=c++14' compile flag * Changed the CXX_STANDARD setting to be per-target instead of global * Added the CXX_STANDARD_REQUIRED setting to all targets
locusrobotics · Nov 26, 2019 · 044bb16 · 044bb16
1 parent a4ffe05
commit 044bb16
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Showing 8 changed files with 341 additions and 80 deletions.
diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt
@@ -35,8 +35,7 @@ catkin_package(
 ###########
 ## Build ##
 ###########
-set(CMAKE_CXX_STANDARD 14)
-add_compile_options(-std=c++14 -Wall -Werror)
+add_compile_options(-Wall -Werror)
 
 # fuse_constraints library
 add_library(${PROJECT_NAME}
@@ -75,6 +74,11 @@ target_link_libraries(${PROJECT_NAME}
   ${EIGEN3_LIBRARIES}
   ${SUITESPARSE_LIBRARIES}
 )
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED YES
+)
 
 #############
 ## Install ##
@@ -127,6 +131,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_absolute_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Absolute Orientation 3D Stamped Constraint Tests
   catkin_add_gtest(test_absolute_orientation_3d_stamped_constraint
@@ -148,6 +157,11 @@ if(CATKIN_ENABLE_TESTING)
     ${CERES_LIBRARIES}
     ${EIGEN3_LIBRARIES}
   )
+  set_target_properties(test_absolute_orientation_3d_stamped_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Absolute Orientation 3D Stamped Euler Constraint Tests
     catkin_add_gtest(test_absolute_orientation_3d_stamped_euler_constraint
@@ -169,6 +183,11 @@ if(CATKIN_ENABLE_TESTING)
     ${CERES_LIBRARIES}
     ${EIGEN3_LIBRARIES}
   )
+  set_target_properties(test_absolute_orientation_3d_stamped_euler_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Absolute Pose 2D Stamped Constraint Tests
   catkin_add_gtest(test_absolute_pose_2d_stamped_constraint
@@ -188,6 +207,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_absolute_pose_2d_stamped_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Absolute Pose 3D Stamped Constraint Tests
   catkin_add_gtest(test_absolute_pose_3d_stamped_constraint
@@ -207,6 +231,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_absolute_pose_3d_stamped_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Marginal Constraint Tests
   catkin_add_gtest(test_marginal_constraint
@@ -224,6 +253,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_marginal_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Marginalize Variables Tests
   catkin_add_gtest(test_marginalize_variables
@@ -242,6 +276,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_marginalize_variables
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Relative Constraint Tests
   catkin_add_gtest(test_relative_constraint
@@ -261,6 +300,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_relative_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Relative Pose 2D Stamped Constraint Tests
   catkin_add_gtest(test_relative_pose_2d_stamped_constraint
@@ -280,6 +324,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_relative_pose_2d_stamped_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Relative Pose 3D Stamped Constraint Tests
   catkin_add_gtest(test_relative_pose_3d_stamped_constraint
@@ -299,6 +348,11 @@ if(CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${CERES_LIBRARIES}
   )
+  set_target_properties(test_relative_pose_3d_stamped_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # UuidOrdering Tests
   catkin_add_gtest(test_uuid_ordering
@@ -313,6 +367,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_uuid_ordering
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # VariableConstraints Tests
   catkin_add_gtest(test_variable_constraints
@@ -325,4 +384,9 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_variable_constraints
     ${PROJECT_NAME}
   )
+  set_target_properties(test_variable_constraints
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 endif()
diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -13,6 +13,8 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(libglog REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
@@ -25,13 +27,13 @@ catkin_package(
     Boost
     CERES
     EIGEN3
+    GLOG
 )
 
 ###########
 ## Build ##
 ###########
-set(CMAKE_CXX_STANDARD 14)
-add_compile_options(-std=c++14 -Wall -Werror)
+add_compile_options(-Wall -Werror)
 
 ## fuse_core library
 add_library(${PROJECT_NAME}
@@ -59,11 +61,18 @@ target_include_directories(${PROJECT_NAME}
     ${catkin_INCLUDE_DIRS}
     ${CERES_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
+    ${GLOG_INCLUDE_DIRS}
 )
 target_link_libraries(${PROJECT_NAME}
   ${Boost_LIBRARIES}
   ${catkin_LIBRARIES}
   ${CERES_LIBRARIES}
+  ${GLOG_LIBRARIES}
+)
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED YES
 )
 
 # fuse_echo executable
@@ -82,6 +91,11 @@ target_link_libraries(fuse_echo
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )
+set_target_properties(fuse_echo
+  PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED YES
+)
 
 #############
 ## Install ##
@@ -137,6 +151,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_async_motion_model
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # AsyncPublisher tests
   add_rostest_gtest(test_async_publisher
@@ -158,6 +177,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_async_publisher
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # AsyncSensorModel tests
   add_rostest_gtest(test_async_sensor_model
@@ -179,6 +203,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_async_sensor_model
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # CallbackWrapper tests
   add_rostest_gtest(test_callback_wrapper
@@ -199,6 +228,11 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_callback_wrapper
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_callback_wrapper
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Constraint tests
   catkin_add_gtest(test_constraint
@@ -219,6 +253,11 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_constraint
     ${PROJECT_NAME}
   )
+  set_target_properties(test_constraint
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Local Parameterization tests
   catkin_add_gtest(test_local_parameterization
@@ -231,6 +270,11 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_local_parameterization
     ${PROJECT_NAME}
   )
+  set_target_properties(test_local_parameterization
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Message Buffer Tests
   catkin_add_gtest(test_message_buffer
@@ -250,6 +294,11 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_message_buffer
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_message_buffer
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Timestamp Manager Tests
   catkin_add_gtest(test_timestamp_manager
@@ -270,6 +319,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_timestamp_manager
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Transaction tests
   catkin_add_gtest(test_transaction
@@ -291,6 +345,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_transaction
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # UUID tests
   catkin_add_gtest(test_uuid
@@ -311,6 +370,11 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_uuid
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 
   # Variable tests
   catkin_add_gtest(test_variable
@@ -331,4 +395,9 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(test_variable
     ${PROJECT_NAME}
   )
+  set_target_properties(test_variable
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 endif()
diff --git a/fuse_graphs/CMakeLists.txt b/fuse_graphs/CMakeLists.txt
@@ -28,8 +28,7 @@ catkin_package(
 ###########
 ## Build ##
 ###########
-set(CMAKE_CXX_STANDARD 14)
-add_compile_options(-std=c++14 -Wall -Werror)
+add_compile_options(-Wall -Werror)
 
 ## fuse_graphs library
 add_library(${PROJECT_NAME}
@@ -49,6 +48,11 @@ target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${CERES_LIBRARIES}
 )
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED YES
+)
 
 #############
 ## Install ##
@@ -103,4 +107,9 @@ if(CATKIN_ENABLE_TESTING)
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
   )
+  set_target_properties(test_hash_graph
+    PROPERTIES
+      CXX_STANDARD 14
+      CXX_STANDARD_REQUIRED YES
+  )
 endif()