Fix CHOMP motion planner build on Windows (#890)

moveit · Dec 22, 2021 · 0505fe3 · 0505fe3
1 parent 0140b7e
commit 0505fe3
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -6,6 +6,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED
   src/collision_env_distance_field.cpp
   src/collision_env_hybrid.cpp
 )
+include(GenerateExportHeader)
+generate_export_header(${MOVEIT_LIB_NAME})
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 ament_target_dependencies(${MOVEIT_LIB_NAME}
@@ -24,6 +27,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 )
 
 install(DIRECTORY include/ DESTINATION include)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${MOVEIT_LIB_NAME}_export.h DESTINATION include)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

diff --git a/...tance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h b/...tance_field/include/moveit/collision_distance_field/collision_detector_allocator_hybrid.h
@@ -39,10 +39,12 @@
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_distance_field/collision_env_hybrid.h>
 
+#include "moveit_collision_distance_field_export.h"
+
 namespace collision_detection
 {
 /** \brief An allocator for Hybrid collision detectors */
-class CollisionDetectorAllocatorHybrid
+class MOVEIT_COLLISION_DISTANCE_FIELD_EXPORT CollisionDetectorAllocatorHybrid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvHybrid, CollisionDetectorAllocatorHybrid>
 {
 public: