From c08de4af838e64df139f0f4782f4d68cc335d601 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Thu, 25 Jul 2019 11:52:18 -0700 Subject: [PATCH 1/8] Initial eigen3_cmake_module content Signed-off-by: Shane Loretz --- CMakeLists.txt | 20 +++ CONTRIBUTING.md | 18 +++ LICENSE | 202 +++++++++++++++++++++++++++++++ README.md | 51 +++++++- cmake/Modules/FindEigen3.cmake | 44 +++++++ eigen3_cmake_module-extras.cmake | 15 +++ package.xml | 20 +++ 7 files changed, 369 insertions(+), 1 deletion(-) create mode 100644 CMakeLists.txt create mode 100644 CONTRIBUTING.md create mode 100644 LICENSE create mode 100644 cmake/Modules/FindEigen3.cmake create mode 100644 eigen3_cmake_module-extras.cmake create mode 100644 package.xml diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..78376ae --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5) +project(eigen3_cmake_module) + +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_cmake_lint_cmake) + find_package(ament_cmake_copyright) + + # Find module is intentionally mixed case, so tell linter to ignore that + ament_lint_cmake("--filter=-convention/filename,-package/stdargs") + ament_copyright() +endif() + +ament_package( + CONFIG_EXTRAS "eigen3_cmake_module-extras.cmake" +) + +install(DIRECTORY cmake + DESTINATION share/${PROJECT_NAME}) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..cfba094 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,18 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ + +Contributors must sign-off each commit by adding a `Signed-off-by: ...` +line to commit messages to certify that they have the right to submit +the code they are contributing to the project according to the +[Developer Certificate of Origin (DCO)](https://developercertificate.org/). diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index 8ee895d..2bd9e58 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,51 @@ # eigen3_cmake_module -Adds a custom find module for Eigen3 + +This package adds a [CMake find module](https://cmake.org/cmake/help/v3.14/manual/cmake-developer.7.html#find-modulesjj) for [Eigen3](https://eigen.tuxfamily.org/dox/) that sets [standard cmake variables](https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names). +This enables `ament_export_dependencies(Eigen3)` and `ament_target_dependencies(my_target Eigen3)`. + +## Using this package + +This section assume you're using [ament_cmake](https://github.com/ament/ament_cmake). + +### Edit your CMakeLists.txt +In your `CMakeLists.txt`, call `find_package()` on this package using `REQUIRED`; then find `Eigen3`. + +```CMake +find_package(eigen3_cmake_module REQUIRED) +find_package(Eigen3) +``` + +If your library or executable uses `Eigen3`, then call `ament_target_dependencies()` to give it access to the `Eigen3` headers. + +```CMake +# add_library(my_thing ...) +# # OR +# add_executable(my_thing ...) +# ... +ament_target_dependencies(my_thing Eigen3) +``` + +If your package uses Eigen3 in public headers, then call `ament_export_dependencies()` on this package, and afterwards do the same for `Eigen3`. + +```CMake +ament_export_dependencies(eigen3_cmake_module) +ament_export_dependencies(Eigen3) +``` + +### Edit your package.xml + +Add build dependencies to both this package and Eigen3 to your `package.xml`. + +```xml +eigen3_cmake_module +Eigen3 +``` + +If your package uses Eigen3 in public headers, then **also add** `` so downstream packages depend on both this package and `Eigen3`. + +```xml +eigen3_cmake_module +Eigen3 +``` + +`` are not necessary because `Eigen3` is a header only library. diff --git a/cmake/Modules/FindEigen3.cmake b/cmake/Modules/FindEigen3.cmake new file mode 100644 index 0000000..bec05d9 --- /dev/null +++ b/cmake/Modules/FindEigen3.cmake @@ -0,0 +1,44 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# This find_module finds Eigen3 and assigns variables to standard variable names +# This allows the module to work with ament_export_dependencies + +include(FindPackageHandleStandardArgs) + +# Use Eigen3Config.cmake to do most of the work +find_package(Eigen3 CONFIG) + +find_package_handle_standard_args( + Eigen3 + VERSION_VAR + EIGEN3_VERSION_STRING + REQUIRED_VARS + EIGEN3_FOUND +) +if(EIGEN3_FOUND) + # Set standard variable names + # https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names + set(_standard_vars + INCLUDE_DIRS + DEFINITIONS + ROOT_DIR) + foreach(_suffix ${_standard_vars}) + set(_wrong_var "EIGEN3_${_suffix}") + set(_right_var "Eigen3_${_suffix}") + if(NOT DEFINED ${_right_var} AND DEFINED ${_wrong_var}) + set(${_right_var} "${${_wrong_var}}") + endif() + endforeach() +endif() diff --git a/eigen3_cmake_module-extras.cmake b/eigen3_cmake_module-extras.cmake new file mode 100644 index 0000000..27cdb96 --- /dev/null +++ b/eigen3_cmake_module-extras.cmake @@ -0,0 +1,15 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +list(INSERT CMAKE_MODULE_PATH 0 "${eigen3_cmake_module_DIR}/Modules") diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..8151ea0 --- /dev/null +++ b/package.xml @@ -0,0 +1,20 @@ + + + eigen3_cmake_module + 0.1.0 + Exports a custom CMake module to find Eigen3. + + Shane Loretz + Shane Loretz + + Apache License 2.0 + + ament_cmake + + ament_cmake_lint_cmake + ament_cmake_copyright + + + ament_cmake + + From 9b578d4fe8a64c4977c5331bfd7a1b1eeba493e0 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Thu, 25 Jul 2019 17:13:21 -0700 Subject: [PATCH 2/8] eigen3_cmake_module is buildtool dependency Signed-off-by: Shane Loretz --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 2bd9e58..39f62f4 100644 --- a/README.md +++ b/README.md @@ -34,17 +34,17 @@ ament_export_dependencies(Eigen3) ### Edit your package.xml -Add build dependencies to both this package and Eigen3 to your `package.xml`. +Add a buildtool dependency to this package, and a build dependency to Eigen3 to your `package.xml`. ```xml -eigen3_cmake_module +eigen3_cmake_module Eigen3 ``` -If your package uses Eigen3 in public headers, then **also add** `` so downstream packages depend on both this package and `Eigen3`. +If your package uses Eigen3 in public headers, then **also add** these tags so downstream packages also depend on this package and `Eigen3`. ```xml -eigen3_cmake_module +eigen3_cmake_module Eigen3 ``` From dc8f51fd2ffd486a709d25b833ccc15ca47147da Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 10:28:28 -0700 Subject: [PATCH 3/8] Fix typo and wrong xml tag Signed-off-by: Shane Loretz --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 39f62f4..1eb2d1e 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This enables `ament_export_dependencies(Eigen3)` and `ament_target_dependencies( ## Using this package -This section assume you're using [ament_cmake](https://github.com/ament/ament_cmake). +This section assumes you're using [ament_cmake](https://github.com/ament/ament_cmake). ### Edit your CMakeLists.txt In your `CMakeLists.txt`, call `find_package()` on this package using `REQUIRED`; then find `Eigen3`. @@ -48,4 +48,4 @@ If your package uses Eigen3 in public headers, then **also add** these tags so d Eigen3 ``` -`` are not necessary because `Eigen3` is a header only library. +`` are not necessary because `Eigen3` is a header only library. From c1b1e612c51dd3fadf1b6b5e26504f85203a23d1 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 10:31:11 -0700 Subject: [PATCH 4/8] Eigen3 rosdep key is eigen Signed-off-by: Shane Loretz --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 1eb2d1e..ff17ad1 100644 --- a/README.md +++ b/README.md @@ -38,14 +38,14 @@ Add a buildtool dependency to this package, and a build dependency to Eigen3 to ```xml eigen3_cmake_module -Eigen3 +eigen ``` If your package uses Eigen3 in public headers, then **also add** these tags so downstream packages also depend on this package and `Eigen3`. ```xml eigen3_cmake_module -Eigen3 +eigen ``` `` are not necessary because `Eigen3` is a header only library. From db2f49d3e04aefd405f2dcf244b3991523aed7a2 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 10:31:37 -0700 Subject: [PATCH 5/8] plural -> singular Signed-off-by: Shane Loretz --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ff17ad1..2263fd9 100644 --- a/README.md +++ b/README.md @@ -48,4 +48,4 @@ If your package uses Eigen3 in public headers, then **also add** these tags so d eigen ``` -`` are not necessary because `Eigen3` is a header only library. +`` is not necessary because `Eigen3` is a header only library. From 4b349006f7b3cb6b8aee14b03802d079ddff8089 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 14:30:40 -0700 Subject: [PATCH 6/8] Test depend in alphabetical order Signed-off-by: Shane Loretz --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 8151ea0..e37a454 100644 --- a/package.xml +++ b/package.xml @@ -11,8 +11,8 @@ ament_cmake - ament_cmake_lint_cmake ament_cmake_copyright + ament_cmake_lint_cmake ament_cmake From 3841fd71e0447cea2b83334550140b0abf10c4af Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 14:31:14 -0700 Subject: [PATCH 7/8] cmake -> CMake Signed-off-by: Shane Loretz --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2263fd9..c42915f 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # eigen3_cmake_module -This package adds a [CMake find module](https://cmake.org/cmake/help/v3.14/manual/cmake-developer.7.html#find-modulesjj) for [Eigen3](https://eigen.tuxfamily.org/dox/) that sets [standard cmake variables](https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names). +This package adds a [CMake find module](https://cmake.org/cmake/help/v3.14/manual/cmake-developer.7.html#find-modulesjj) for [Eigen3](https://eigen.tuxfamily.org/dox/) that sets [standard CMake variables](https://cmake.org/cmake/help/v3.5/manual/cmake-developer.7.html#standard-variable-names). This enables `ament_export_dependencies(Eigen3)` and `ament_target_dependencies(my_target Eigen3)`. ## Using this package From 59474ecb715644efb9a20095e9b73350bbbd7bd7 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 6 Aug 2019 14:32:03 -0700 Subject: [PATCH 8/8] Test dependencies required when testing Signed-off-by: Shane Loretz --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 78376ae..4bd1462 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,8 +4,8 @@ project(eigen3_cmake_module) find_package(ament_cmake REQUIRED) if(BUILD_TESTING) - find_package(ament_cmake_lint_cmake) - find_package(ament_cmake_copyright) + find_package(ament_cmake_lint_cmake REQUIRED) + find_package(ament_cmake_copyright REQUIRED) # Find module is intentionally mixed case, so tell linter to ignore that ament_lint_cmake("--filter=-convention/filename,-package/stdargs")