Remove rock macros

CMakeLists.txt

@@ -1,10 +1,11 @@
 # CMakeLists.txt has to be located in the project folder and cmake has to be
 # executed from 'project/build' with 'cmake ../'.
-cmake_minimum_required(VERSION 3.0)
-project(maps VERSION 0.1)
+cmake_minimum_required(VERSION 3.1)
+project(maps VERSION 0.1 DESCRIPTION "Standard Maps library")
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-find_package(Rock)
+set(BUILD_SHARED_LIBS ON)
+include(GNUInstallDirs)
 
 if(COVERAGE)
     if(CMAKE_BUILD_TYPE MATCHES Debug)
@@ -29,8 +30,32 @@ if(CMAKE_BUILD_TYPE MATCHES Debug)
     add_definitions(-O1) # without any optimization, code is extreamly slow
 endif()
 
-add_definitions(-DNUMERIC_DEPRECATE=1 )
 
-rock_init()
-rock_standard_layout()
+add_subdirectory(src)
 
+# Export the library interface
+install(EXPORT ${PROJECT_NAME}-targets
+        NAMESPACE ${PROJECT_NAME}::
+	DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
+
+# Create and install the version file
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file("${PROJECT_NAME}-config-version.cmake"
+	VERSION ${MAPS_VERSION}
+        COMPATIBILITY SameMajorVersion
+)
+
+install(
+        FILES
+                ${PROJECT_NAME}-config.cmake
+                ${PROJECT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+        DESTINATION
+		${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
+
+# Install package-manifest
+#install(
+#        FILES package.xml
+#        DESTINATION ${CMAKE_INSTALL_DIR}/share/${PROJECT_NAME}
+#)

manifest.xml

@@ -27,7 +27,7 @@
     <author> Autonomy Team/[email protected]</author>
     <maintainer>Anna Born/[email protected]</maintainer>
     <maintainer>Sascha Arnold/[email protected]</maintainer>
-    <license>BSD</license>
+    <license>BSD-2Clause</license>
     <url>http://rock-robotics.org/</url>
     <depend package="base/cmake"/>
     <depend package="base/types"/>

maps-config.cmake

@@ -0,0 +1,3 @@
+find_package(PkgConfig)
+
+include("${CMAKE_CURRENT_LIST_DIR}/maps-targets.cmake")

package.xml

@@ -0,0 +1,46 @@
+<!--
+    Copyright (c) 2015, Deutsches Forschungszentrum für Künstliche Intelligenz GmbH.
+    All rights reserved.
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright notice, this
+      list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+    FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+    DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+    SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+    OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+    OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<?xml version="1.0"?>
+<package format="2">
+  <name>maps</name>
+  <version>0.0.0</version>
+  <description>Standard Maps library following the IEEE 1873 standard for mapa data representation with extensions (i.e: MLS, 3D, Operators, etc..)</description>
+  <author email="[email protected]">Autonomy Team</author>
+  <license>BSD 2-Clause "Simplified" License</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>base-types</depend>
+  <depend>base-numeric</depend>
+  <depend>base-boost_serialization</depend>
+  <depend>"cgal"</depend>
+  <depend>"gdal"</depend>
+  <depend>slam/pcl</depend>
+  <!--depend>"gui-vizkit3d"</depend-->
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
+

src/CMakeLists.txt

@@ -1,9 +1,10 @@
 find_package(Boost REQUIRED COMPONENTS system filesystem serialization)
 find_package(CGAL REQUIRED COMPONENTS Core)
 find_package(PCL 1.7 REQUIRED COMPONENTS io)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(DEPS REQUIRED IMPORTED_TARGET base-types base-logging boost_serialization)
 
-rock_library(maps
-    SOURCES
+set(SOURCES
         grid/ElevationMap.cpp
         grid/TraversabilityMap3d.cpp
         grid/OccupancyGridMap.cpp
@@ -20,62 +21,51 @@ rock_library(maps
         tools/SimpleTraversability.cpp
         tools/SimpleTraversabilityRadialLUT.cpp
         tools/TraversabilityGrassfire.cpp
-    HEADERS
-        LocalMap.hpp
-        grid/Index.hpp
-        grid/GridMap.hpp
-        grid/LevelList.hpp        
-        grid/LayeredGridMap.hpp
-        grid/MultiLevelGridMap.hpp        
-        grid/ElevationMap.hpp
-        grid/SurfacePatches.hpp
-        grid/MLSConfig.hpp
-        grid/MLSMap.hpp
-        grid/TraversabilityMap3d.hpp
-        grid/AccessIterator.hpp
-        grid/GridAccessInterface.hpp
-        grid/GridFacade.hpp        
-        grid/VectorGrid.hpp        
-        grid/VectorGridAccess.hpp
-        grid/DiscreteTree.hpp
-        grid/VoxelGridMap.hpp
-        grid/OccupancyGridMapBase.hpp
-        grid/OccupancyGridMap.hpp
-        grid/OccupancyConfiguration.hpp
-        grid/OccupancyPatch.hpp
-        grid/TraversabilityCell.hpp
-        grid/TraversabilityClass.hpp
-        grid/TraversabilityGrid.hpp
-        grid/TSDFPatch.hpp
-        grid/TSDFVolumetricMap.hpp
-        geometric/Point.hpp
-        geometric/LineSegment.hpp
-        geometric/GeometricMap.hpp
-        geometric/ContourMap.hpp
-        tools/BresenhamLine.hpp
-        tools/Overlap.hpp
-        tools/VoxelTraversal.hpp
-        tools/TSDFSurfaceReconstruction.hpp
-        tools/TSDFPolygonMeshReconstruction.hpp
-        tools/TSDF_MLSMapReconstruction.hpp
-        tools/MarchingCubes.hpp
-        tools/SurfaceIntersection.hpp
-        tools/MLSToSlopes.hpp
-        tools/SimpleTraversability.hpp
-        tools/SimpleTraversabilityRadialLUT.hpp
-        tools/TraversabilityGrassfire.hpp
-        tools/TraversabilityGrassfireConfig.hpp
-        tools/TraversabilityGrassFireSearchItem.hpp
-        operations/GridInterpolation.hpp
-        operations/CoverageMapGeneration.hpp
-    DEPS_PKGCONFIG 
-        base-types 
-        base-logging
-        boost_serialization
-        pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
-    DEPS_PLAIN
-        Boost_SYSTEM 
-        Boost_FILESYSTEM 
-        Boost_SERIALIZATION
 )
 
+add_library(${PROJECT_NAME} ${SOURCES})
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    PkgConfig::DEPS
+    Boost::system
+    Boost::filesystem 
+    Boost::serialization
+    ${PCL_IO_LIBRARIES}
+)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+    ${PCL_INCLUDE_DIRS}
+)
+
+target_compile_definitions(${PROJECT_NAME}
+  PUBLIC
+    NUMERIC_DEPRECATE=1
+)
+
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/
+	DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
+	FILES_MATCHING PATTERN "*.hpp"
+)
+
+install (TARGETS
+	${PROJECT_NAME}
+	EXPORT ${PROJECT_NAME}-targets
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+)
+
+set(PKGCONFIG_CFLAGS)
+set(PKGCONFIG_REQUIRES
+    base-types
+    base-logging
+    boost_serialization
+    pcl_io-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
+)
+configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
+install(FILES
+	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
+	DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+)

src/maps.pc.in

@@ -1,12 +1,11 @@
 prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=@CMAKE_INSTALL_PREFIX@
-libdir=${prefix}/lib
-includedir=${prefix}/include
+libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
 
-Name: @TARGET_NAME@
+Name: @PROJECT_NAME@
 Description: @PROJECT_DESCRIPTION@
 Version: @PROJECT_VERSION@
 Requires: @PKGCONFIG_REQUIRES@
 Libs: -L${libdir} -l@TARGET_NAME@ @PKGCONFIG_LIBS@ 
 Cflags: -I${includedir} @PKGCONFIG_CFLAGS@
-