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Fix Eigen Plugins compilation when linking to grid_map_core #475

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Fix Eigen Plugins compilation when linking to grid_map_core #475

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47f53cb
Reproduce #382
Ryanf55 Jul 31, 2024
61f7286
Attempt patch by making properties only apply to the target
Ryanf55 Jul 31, 2024
5d500eb
Fix export by not adding it to config extras
Ryanf55 Jul 31, 2024
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13 changes: 8 additions & 5 deletions grid_map_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@ project(grid_map_core)
find_package(ament_cmake REQUIRED)
find_package(grid_map_cmake_helpers REQUIRED)

## Define Eigen addons.
include(cmake/${PROJECT_NAME}-extras.cmake)
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This needs to be moved down till after the library is created. You can't call target_compile_definitions on a target until the target exists.



## System dependencies are found with CMake's conventions
find_package(Eigen3 REQUIRED)
Expand Down Expand Up @@ -35,6 +34,9 @@ add_library(${PROJECT_NAME}
src/iterators/SlidingWindowIterator.cpp
)

## Define Eigen addons.
include(cmake/${PROJECT_NAME}-extras.cmake)

## Specify additional locations of header files
target_include_directories(${PROJECT_NAME}
PUBLIC
Expand Down Expand Up @@ -127,6 +129,7 @@ endif()

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(Eigen3)
ament_package(CONFIG_EXTRAS
cmake/${PROJECT_NAME}-extras.cmake
)
ament_package()
#ament_package(CONFIG_EXTRAS
# cmake/${PROJECT_NAME}-extras.cmake
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This breaks if we leave it in - any tips on how to test the plugins are working in another package?

#)
4 changes: 2 additions & 2 deletions grid_map_core/cmake/grid_map_core-extras.cmake
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Expand Up @@ -4,7 +4,7 @@ if(EIGEN_FUNCTORS_PLUGIN)
message(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined")
endif()
else()
add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
target_compile_definitions(grid_map_core PUBLIC EIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
endif()

set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
Expand All @@ -13,5 +13,5 @@ if(EIGEN_DENSEBASE_PLUGIN)
message(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
endif()
else()
add_definitions(-DEIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
target_compile_definitions(grid_map_core PUBLIC EIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
endif()
13 changes: 13 additions & 0 deletions issue382/CMakeLists.txt
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@@ -0,0 +1,13 @@
cmake_minimum_required(VERSION 3.15)
project(issue382)

find_package(grid_map_core CONFIG REQUIRED)
find_package(Eigen3 CONFIG REQUIRED)


add_executable(main1 main1.cpp)
target_link_libraries(main1 PRIVATE grid_map_core::grid_map_core)


add_executable(main2 main2.cpp)
target_link_libraries(main2 PRIVATE Eigen3::Eigen)
11 changes: 11 additions & 0 deletions issue382/main1.cpp
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@@ -0,0 +1,11 @@
#include <Eigen/Core>

int main() {

Eigen::VectorXd v(10);
v[0] = 0.1;
v[1] = 0.2;
v(0) = 0.3;
v(1) = 0.4;
return 0;
}
12 changes: 12 additions & 0 deletions issue382/main2.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
#include <Eigen/Core>


int main() {

Eigen::VectorXd v(10);
v[0] = 0.1;
v[1] = 0.2;
v(0) = 0.3;
v(1) = 0.4;
return 0;
}
24 changes: 24 additions & 0 deletions issue382/package.xml
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@@ -0,0 +1,24 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>issue382</name>
<version>2.0.0</version>
<description>foo.</description>
<maintainer email="[email protected]">ryan f</maintainer>
<maintainer email="[email protected]">Yoshua Nava</maintainer>
<maintainer email="[email protected]">Ryan Friedman</maintainer>
<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>grid_map_core</depend>
<depend>eigen</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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