Merge pull request #29 from k-okada/remove_vrabaud

update license to BSD-3

CMakeLists.txt

@@ -0,0 +1,179 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openslam_gmapping)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+
+#SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui
+
+# utils/
+# OBJS= stat.o  movement.o
+# APPS= autoptr_test #stat_test
+# CPPFLAGS+= -DFSLINE
+add_library(utils
+  utils/stat.cpp
+  utils/movement.cpp)
+add_executable(autoptr_test
+  utils/autoptr_test.cpp)
+
+# sensor/
+# SUBDIRS=sensor_base sensor_odometry sensor_range
+
+# sensor/sensor_base/
+# OBJS= sensor.o sensorreading.o
+add_library(sensor_base
+  sensor/sensor_base/sensor.cpp
+  sensor/sensor_base/sensorreading.cpp)
+
+# sensor/sensor_odometry/
+# LDFLAGS+= -lsensor_base
+# OBJS= odometrysensor.o odometryreading.o
+add_library(sensor_odometry
+  sensor/sensor_odometry/odometrysensor.cpp
+  sensor/sensor_odometry/odometryreading.cpp)
+target_link_libraries(sensor_odometry
+  sensor_base)
+
+# sensor/sensor_range/
+# CPPFLAGS+= -I../
+# LDFLAGS+= -lsensor_base
+# OBJS= rangesensor.o rangereading.o 
+add_library(sensor_range
+  sensor/sensor_range/rangesensor.cpp
+  sensor/sensor_range/rangereading.cpp)
+target_link_libraries(sensor_range
+  sensor_base)
+
+# log/
+# CPPFLAGS+= -I../sensor
+# OBJS= configuration.o carmenconfiguration.o sensorlog.o sensorstream.o
+# APPS= log_test log_plot scanstudio2carmen rdk2carmen
+# LDFLAGS+=  -lsensor_range -lsensor_odometry -lsensor_base 
+add_library(log
+  log/configuration.cpp
+  log/carmenconfiguration.cpp
+  log/sensorlog.cpp
+  log/sensorstream.cpp)
+add_executable(log_test
+  log/log_test.cpp)
+add_executable(log_plot
+  log/log_plot.cpp)
+add_executable(scanstudio2carmen
+  log/scanstudio2carmen.cpp)
+add_executable(rdk2carmen
+  log/rdk2carmen.cpp)
+target_link_libraries(log_test log)
+target_link_libraries(log_plot log)
+target_link_libraries(scanstudio2carmen log)
+target_link_libraries(rdk2carmen log)
+target_link_libraries(log
+  sensor_range sensor_odometry sensor_base)
+
+# configfile/
+# OBJS= configfile.o 
+# APPS= configfile_test 
+add_library(configfile
+  configfile/configfile.cpp)
+add_executable(configfile_test
+  configfile/configfile_test.cpp)
+target_link_libraries(configfile_test configfile)
+
+# scanmatcher/
+# CPPFLAGS+=-I../sensor
+# OBJS= smmap.o scanmatcher.o scanmatcherprocessor.o eig3.o
+# APPS= scanmatch_test icptest
+# LDFLAGS+= -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
+add_library(scanmatcher
+  scanmatcher/smmap.cpp
+  scanmatcher/scanmatcher.cpp
+  scanmatcher/scanmatcherprocessor.cpp
+  scanmatcher/eig3.cpp)
+add_executable(scanmatch_test
+  scanmatcher/scanmatch_test.cpp)
+add_executable(icptest
+  scanmatcher/icptest.cpp)
+target_link_libraries(scanmatch_test scanmatcher)
+target_link_libraries(icptest scanmatcher)
+target_link_libraries(scanmatcher
+  log sensor_range sensor_odometry sensor_base utils)
+
+# gridfastslam/
+# CPPFLAGS+=-I../sensor
+# OBJS= gridslamprocessor_tree.o motionmodel.o gridslamprocessor.o gfsreader.o
+# APPS= gfs2log gfs2rec gfs2neff #gfs2stat
+# LDFLAGS+=  -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
+add_library(gridfastslam
+  gridfastslam/gridslamprocessor_tree.cpp
+  gridfastslam/motionmodel.cpp
+  gridfastslam/gridslamprocessor.cpp
+  gridfastslam/gfsreader.cpp)
+add_executable(gfs2log
+  gridfastslam/gfs2log.cpp)
+add_executable(gfs2rec
+  gridfastslam/gfs2rec.cpp)
+add_executable(gfs2neff
+  gridfastslam/gfs2neff.cpp)
+target_link_libraries(gfs2log gridfastslam)
+target_link_libraries(gfs2rec gridfastslam)
+target_link_libraries(gfs2neff gridfastslam)
+target_link_libraries(gridfastslam
+  scanmatcher log sensor_range sensor_odometry sensor_base utils)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_openslam_gmapping.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

build_tools/Makefile.generic-shared-object

@@ -35,7 +35,7 @@ ifeq ($(MACOSX),1)
 	@$(PRETTY) "$(CXX) $(LDFLAGS)  -dynamiclib $(OBJS) $(COBJS) -L$(LIBDIR) $(LIBS) -install_name $@ -o $@"
 endif
 ifeq ($(LINUX),1)
-	@$(PRETTY) "$(CXX) $(LDFLAGS) -fPIC -shared $(OBJS) $(COBJS) -L $(LIBDIR) $(LIBS) -o $@"
+ 	@$(PRETTY) "$(CXX) -fPIC -shared $(OBJS) $(COBJS) -L $(LIBDIR) $(LIBS) $(LDFLAGS) -o $@"
 	@if ! $(PRETTY) "$(TESTLIB) $(SONAME)"; then $(MESSAGE) "Testing of $(SONAME) failed."; rm $(SONAME); exit 1; fi;
 endif
 

carmenwrapper/carmenwrapper.cpp

@@ -21,7 +21,7 @@
  *****************************************************************/
 
 
-#include "carmenwrapper.h"
+#include "gmapping/carmenwrapper/carmenwrapper.h"
 
 using namespace GMapping;
 using namespace std;

configfile/configfile.cpp

@@ -22,7 +22,7 @@
 
 
 #include <cstdlib>
-#include "configfile.h"
+#include "gmapping/configfile/configfile.h"
 
 #include <fstream>
 #include <iostream>

configfile/configfile_test.cpp

@@ -23,7 +23,7 @@
 
 #include <cstdlib>
 #include <iostream>
-#include "configfile.h"
+#include "gmapping/configfile/configfile.h"
 
 using namespace std;
 using namespace GMapping;

gfs-carmen/gfs-carmen.cpp

@@ -21,11 +21,11 @@
  *****************************************************************/
 
 
-#include <utils/commandline.h>
-#include <carmenwrapper/carmenwrapper.h>
-#include <gridfastslam/gridslamprocessor.h>
-#include <utils/orientedboundingbox.h>
-#include <configfile/configfile.h>
+#include <gmapping/utils/commandline.h>
+#include <gmapping/carmenwrapper/carmenwrapper.h>
+#include <gmapping/gridfastslam/gridslamprocessor.h>
+#include <gmapping/utils/orientedboundingbox.h>
+#include <gmapping/configfile/configfile.h>
 
 #define DEBUG cout << __PRETTY_FUNCTION__
 

grid/graphmap.cpp

@@ -1,9 +1,9 @@
 #ifndef GRAPHMAP_H
 #define GRAPHMAP_H
 #include <list>
-#include <utils/point.h>
+#include <gmapping/utils/point.h>
 #include <utils/graph.h>
-#include <grid/map.h>
+#include <gmapping/grid/map.h>
 
 namespace GMapping {
 

grid/map_test.cpp

@@ -1,6 +1,6 @@
 #include <iostream>
-#include "map.h"
-#include "harray2d.h"
+#include "gmapping/grid/map.h"
+#include "gmapping/grid/harray2d.h"
 
 using namespace std;
 using namespace GMapping;

gridfastslam/gfs2log.cpp

@@ -4,8 +4,8 @@
 #include <sstream>
 #include <vector>
 #include <list>
-#include <utils/point.h>
-#include "gfsreader.h"
+#include <gmapping/utils/point.h>
+#include "gmapping/gridfastslam/gfsreader.h"
 
 #define MAX_LINE_LENGHT (1000000)
 

gridfastslam/gfs2neff.cpp

@@ -1,6 +1,7 @@
 #include <iostream>
 #include <fstream>
 #include <sstream>
+#include <cstring>
 
 using namespace std;
 

gridfastslam/gfs2rec.cpp

@@ -4,7 +4,7 @@
 #include <sstream>
 #include <vector>
 #include <list>
-#include <utils/point.h>
+#include <gmapping/utils/point.h>
 
 #define MAX_LINE_LENGHT (1000000)
 
@@ -145,9 +145,9 @@ struct ResampleRecord: public Record{
 	virtual void read(istream& is){
 		is >> dim;
 		for (unsigned int i=0; i< dim; i++){
-			unsigned int i;
-			is >> i;
-			indexes.push_back(i);
+			unsigned int j;
+			is >> j;
+			indexes.push_back(j);
 		}
 	}
 };

gridfastslam/gfs2stat.cpp

@@ -1,8 +1,8 @@
-#include <utils/stat.h>
-#include <particlefilter/particlefilter.h>
+#include <gmapping/utils/stat.h>
+#include <gmapping/particlefilter/particlefilter.h>
 #include <iostream>
 #include <fstream>
-#include "gfsreader.h"
+#include "gmapping/gridfastslam/gfsreader.h"
 
 using namespace std;
 using namespace GMapping;

gridfastslam/gfs2stream.cpp

@@ -3,9 +3,9 @@
 #include <sstream>
 #include <vector>
 #include <list>
-#include <utils/point.h>
-#include <utils/commandline.h>
-#include "gfsreader.h"
+#include <gmapping/utils/point.h>
+#include <gmapping/utils/commandline.h>
+#include "gmapping/gridfastslam/gfsreader.h"
 #define MAX_LINE_LENGHT (1000000)
 
 using namespace std;

gridfastslam/gfsreader.cpp

@@ -1,5 +1,5 @@
 #include <cstring>
-#include "gfsreader.h"
+#include "gmapping/gridfastslam/gfsreader.h"
 #include <iomanip>
 #include <limits>