Merge pull request #2 from hidmic/likelihood_field_3d_model

Please CI

beluga_vdb/CMakeLists.txt

@@ -22,31 +22,18 @@ set(OPENVDB_CMAKE_MODULE_PATH
     ${OPENVDB_CMAKE_MODULE_PATH}
     CACHE PATH "Path to OpenVDB CMake module")
 
-add_library(${PROJECT_NAME} INTERFACE)
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
   set(CMAKE_BUILD_TYPE
       "Release"
       CACHE STRING "Build type" FORCE)
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(
-    -Wall
-    -Wconversion
-    -Wextra
-    -Werror
-    -Wpedantic)
-endif()
-if(CMAKE_BUILD_TYPE MATCHES "Debug")
-  target_compile_options(${PROJECT_NAME} INTERFACE -fno-inline)
-endif()
+find_package(beluga REQUIRED)
 
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(range-v3 REQUIRED)
 find_package(Sophus REQUIRED)
-find_package(TBB REQUIRED)
-find_package(beluga REQUIRED)
 
 if(NOT OPENVDB_CMAKE_MODULE_PATH)
   file(
@@ -78,12 +65,42 @@ if(OPENVDB_CMAKE_MODULE_PATH)
   list(POP_BACK CMAKE_MODULE_PATH)
 endif()
 
+add_library(${PROJECT_NAME} INTERFACE)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  target_compile_options(
+    ${PROJECT_NAME}
+    INTERFACE -Wall
+              -Wconversion
+              -Wextra
+              -Werror
+              -Wpedantic)
+endif()
+if(CMAKE_BUILD_TYPE MATCHES "Debug")
+  target_compile_options(${PROJECT_NAME} INTERFACE -fno-inline)
+endif()
+
 target_include_directories(
   ${PROJECT_NAME}
   INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
             $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 target_link_libraries(${PROJECT_NAME} INTERFACE beluga::beluga OpenVDB::openvdb)
 target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
+target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG
+                                                     SOPHUS_USE_BASIC_LOGGING)
+
+add_executable(clang_tidy_findable)
+target_sources(clang_tidy_findable PRIVATE src/clang_tidy_findable.cpp)
+target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME})
+
+option(BUILD_TESTING "Build the testing tree." ON)
+if(BUILD_TESTING)
+  message(STATUS "Build testing enabled.")
+  enable_testing()
+  add_subdirectory(test)
+endif()
+
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 install(
   TARGETS ${PROJECT_NAME}
@@ -92,11 +109,23 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+set(INSTALL_CMAKEDIR ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake)
 
-option(BUILD_TESTING "Build the testing tree." ON)
-if(BUILD_TESTING)
-  message(STATUS "Build testing enabled.")
-  enable_testing()
-  add_subdirectory(test)
-endif()
+install(
+  EXPORT ${PROJECT_NAME}Targets
+  FILE ${PROJECT_NAME}Targets.cmake
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION ${INSTALL_CMAKEDIR})
+
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION ${INSTALL_CMAKEDIR})
+write_basic_package_version_file(
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+  COMPATIBILITY SameMajorVersion)
+
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${INSTALL_CMAKEDIR})

beluga_vdb/cmake/Config.cmake.in

@@ -0,0 +1,42 @@
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3 REQUIRED NO_MODULE)
+find_dependency(range-v3 REQUIRED)
+find_dependency(Sophus REQUIRED)
+find_dependency(beluga REQUIRED)
+
+set(OPENVDB_CMAKE_MODULE_PATH
+    ${OPENVDB_CMAKE_MODULE_PATH}
+    CACHE PATH "Path to OpenVDB CMake module")
+
+if(NOT OPENVDB_CMAKE_MODULE_PATH)
+  file(
+    GLOB_RECURSE
+    OPENVDB_MODULES
+    /usr/lib/*/FindOpenVDB.cmake
+    /usr/local/lib/*/FindOpenVDB.cmake)
+  list(LENGTH OPENVDB_MODULES NUM_OPENVDB_MODULES)
+  if(NUM_OPENVDB_MODULES EQUAL 1)
+    list(GET OPENVDB_MODULES 0 OPENVDB_MODULE)
+    get_filename_component(OPENVDB_CMAKE_MODULE_PATH ${OPENVDB_MODULE} DIRECTORY)
+  endif()
+  unset(NUM_OPENVDB_MODULES)
+  unset(OPENVDB_MODULES)
+endif()
+
+if(OPENVDB_CMAKE_MODULE_PATH)
+  list(APPEND CMAKE_MODULE_PATH ${OPENVDB_CMAKE_MODULE_PATH})
+endif()
+
+find_dependency(OpenVDB REQUIRED)
+
+if(OPENVDB_CMAKE_MODULE_PATH)
+  list(POP_BACK CMAKE_MODULE_PATH)
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")
+
+set(@PROJECT_NAME@_LIBRARIES @PROJECT_NAME@::@PROJECT_NAME@)
+
+check_required_components($@PROJECT_NAME@)

beluga_vdb/src/clang_tidy_findable.cpp

@@ -0,0 +1,27 @@
+// Copyright 2022-2023 Ekumen, 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 file exists in this header-only library as a workaround for
+ * clang-tidy to find and process the headers, since all the source files
+ * inside the test folder are ignored.
+ * It will not be exported or installed with the rest of the targets of this
+ * library.
+ */
+
+#include <beluga/beluga.hpp>
+
+int main() {
+  return 0;
+}

beluga_vdb/test/beluga_vdb/sensor/test_likelihood_3d_field_model.cpp

@@ -56,7 +56,7 @@ auto make_map(const double voxel_size, const std::vector<T>& world_points) {
   }
 
   // Check grid
-  openvdb::tools::CheckLevelSet<GridT> checker(*grid);
+  const openvdb::tools::CheckLevelSet<GridT> checker(*grid);
   // Check inactive values have a magnitude equal to the background value
   assert(checker.checkInactiveValues() == "");
 

tools/run-clang-tidy.sh

@@ -26,7 +26,7 @@ COLCON_EXTRA_ARGS=""
 if [ "${ROS_DISTRO}" != "noetic" ]; then
     ROS_PACKAGES="beluga beluga_ros beluga_amcl beluga_system_tests"
     if [ "${ROS_DISTRO}" != "humble" ] && [ "${ROS_DISTRO}" != "iron" ]; then
-        ROS_PACKAGES="beluga beluga_ros beluga_amcl beluga_system_tests beluga_tools beluga_vdb"
+        ROS_PACKAGES="beluga beluga_ros beluga_amcl beluga_system_tests beluga_vdb"
     fi
 else
     ROS_PACKAGES="beluga beluga_ros beluga_amcl"