Merge branch 'devel' for 1.9.0 release

.travis.yml

@@ -1,12 +1,19 @@
 language: cpp
+sudo: required
+dist: trusty
 compiler:
   - gcc
   - clang
 before_install:
   - sudo apt-get update -qq
-  - sudo apt-get install -qq libqt4-dev libqt4-opengl-dev libqglviewer-qt4-dev  
+  - sudo apt-get install -qq libqt4-dev libqt4-opengl-dev libqglviewer-dev  
 before_script:
-  - mkdir build
-  - cd build
-  - cmake ..
-script: make && make test
+script: ./scripts/travis_build_jobs.sh $VARIANT
+env:
+  - VARIANT=dist
+  - VARIANT=components
+matrix:
+  exclude:
+    - compiler: clang
+      env: VARIANT=components
+

CMakeLists.txt

@@ -1,10 +1,16 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT( octomap-distribution )
 
 ENABLE_TESTING()  # enable CTest environment of subprojects
 
 option(BUILD_OCTOVIS_SUBPROJECT "Build targets from subproject octovis" ON)
 option(BUILD_DYNAMICETD3D_SUBPROJECT  "Build targets from subproject dynamicEDT3D" ON)
+option(OCTOVIS_QT5 "Link Octovis against Qt5?" NO)
+
+if(OCTOVIS_QT5)
+	# Compiling against QT5 requires C++11.
+	set(CMAKE_CXX_STANDARD 11)
+endif(OCTOVIS_QT5)
 
 ADD_SUBDIRECTORY( octomap )
 

dynamicEDT3D/CMakeLists.txt

@@ -1,17 +1,21 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT(dynamicEDT3D)
 
-ENABLE_TESTING()
+include(CTest)
 
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
-set(DYNAMICEDT3D_MINOR_VERSION 8)
+set(DYNAMICEDT3D_MINOR_VERSION 9)
 set(DYNAMICEDT3D_PATCH_VERSION 0)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)
+  if(POLICY CMP0042)
+    # Enable MACOSX_RPATH by default.
+    cmake_policy(SET CMP0042 NEW)
+  endif(POLICY CMP0042)
 endif(COMMAND cmake_policy)
 
 SET (CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules")
@@ -53,7 +57,7 @@ find_package(octomap REQUIRED
 MESSAGE(STATUS "Found octomap version: " ${octomap_VERSION})
 MESSAGE(STATUS "octomap libraries: ${OCTOMAP_LIBRARIES}")
 
-INCLUDE_DIRECTORIES(${OCTOMAP_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(BEFORE SYSTEM ${OCTOMAP_INCLUDE_DIRS})
 
 ADD_SUBDIRECTORY(src)
 
@@ -96,10 +100,18 @@ ELSE()
 ENDIF()
 # not used right now (export depends?)
 #set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake" @ONLY)
+include(CMakePackageConfigHelpers)
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  dynamicEDT3DConfig.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake"
+  PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake"
+  VERSION ${DYNAMICEDT3D_VERSION}
+  COMPATIBILITY AnyNewerVersion)
 
 # Install the export set for use with the install-tree
 #install(EXPORT FooBarLibraryDepends DESTINATION
@@ -111,10 +123,21 @@ configure_file(dynamicEDT3DConfig-version.cmake.in
 set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
 #set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" @ONLY)
+
+set(DYNAMICEDT3D_INCLUDE_TARGETS
+  "include(\${CMAKE_CURRENT_LIST_DIR}/dynamicEDT3DTargets.cmake)")
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  dynamicEDT3DConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
+  PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
+  VERSION ${DYNAMICEDT3D_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 

dynamicEDT3D/dynamicEDT3DConfig.cmake.in

@@ -1,5 +1,4 @@
 # - Config file for the dynamicEDT3D package
-# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
 #
 #  Usage from an external project:
 #    In your CMakeLists.txt, add these lines:
@@ -9,15 +8,25 @@
 #    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${DYNAMICEDT3D_LIBRARIES})
 #
 # It defines the following variables
-#  DYNAMICEDT3D_INCLUDE_DIRS - include directories for dynamicEDT3D
-#  DYNAMICEDT3D_LIBRARY_DIRS - library directories for dynamicEDT3D (normally not used!)
-#  DYNAMICEDT3D_LIBRARIES    - libraries to link against
-
+#  DYNAMICEDT3D_INCLUDE_DIRS  - include directories for dynamicEDT3D
+#  DYNAMICEDT3D_LIBRARY_DIRS  - library directories for dynamicEDT3D (normally not used!)
+#  DYNAMICEDT3D_LIBRARIES     - libraries to link against
+#  DYNAMICEDT3D_MAJOR_VERSION - major version
+#  DYNAMICEDT3D_MINOR_VERSION - minor version
+#  DYNAMICEDT3D_PATCH_VERSION - patch version
+#  DYNAMICEDT3D_VERSION       - major.minor.patch version
+
+@PACKAGE_INIT@
+
+set(DYNAMICEDT3D_MAJOR_VERSION "@DYNAMICEDT3D_MAJOR_VERSION@")
+set(DYNAMICEDT3D_MINOR_VERSION "@DYNAMICEDT3D_MINOR_VERSION@")
+set(DYNAMICEDT3D_PATCH_VERSION "@DYNAMICEDT3D_PATCH_VERSION@")
+set(DYNAMICEDT3D_VERSION "@DYNAMICEDT3D_VERSION@")
+
 # Tell the user project where to find our headers and libraries
-set(DYNAMICEDT3D_INCLUDE_DIRS "@DYNAMICEDT3D_INCLUDE_DIRS@")
-set(DYNAMICEDT3D_LIBRARY_DIRS "@DYNAMICEDT3D_LIB_DIR@")
-
-# Our library dependencies (contains definitions for IMPORTED targets)
-# include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
-
-set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")
+set_and_check(DYNAMICEDT3D_INCLUDE_DIRS "@PACKAGE_DYNAMICEDT3D_INCLUDE_DIRS@")
+set_and_check(DYNAMICEDT3D_LIBRARY_DIRS "@PACKAGE_DYNAMICEDT3D_LIB_DIR@")
+
+set(DYNAMICEDT3D_LIBRARIES "@PACKAGE_DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")
+
+@DYNAMICEDT3D_INCLUDE_TARGETS@

dynamicEDT3D/include/dynamicEDT3D/dynamicEDTOctomap.h

@@ -40,36 +40,38 @@
 
 #include "dynamicEDT3D.h"
 #include <octomap/OcTree.h>
+#include <octomap/OcTreeStamped.h>
 
-/// A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap.
-class DynamicEDTOctomap: private DynamicEDT3D {
+/// A DynamicEDTOctomapBase object connects a DynamicEDT3D object to an octomap.
+template <class TREE>
+class DynamicEDTOctomapBase: private DynamicEDT3D {
 public:
-    /** Create a DynamicEDTOctomap object that maintains a distance transform in the bounding box given by bbxMin, bbxMax and clamps distances at maxdist.
+    /** Create a DynamicEDTOctomapBase object that maintains a distance transform in the bounding box given by bbxMin, bbxMax and clamps distances at maxdist.
      *  treatUnknownAsOccupied configures the treatment of unknown cells in the distance computation.
      *
      *  The constructor copies occupancy data but does not yet compute the distance map. You need to call udpate to do this.
      *
      *  The distance map is maintained in a full three-dimensional array, i.e., there exists a float field in memory for every voxel inside the bounding box given by bbxMin and bbxMax. Consider this when computing distance maps for large octomaps, they will use much more memory than the octomap itself!
      */
-	DynamicEDTOctomap(float maxdist, octomap::OcTree* _octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied);
+	DynamicEDTOctomapBase(float maxdist, TREE* _octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied);
 
-	virtual ~DynamicEDTOctomap();
+	virtual ~DynamicEDTOctomapBase();
 
 	///trigger updating of the distance map. This will query the octomap for the set of changes since the last update.
 	///If you set updateRealDist to false, computations will be faster (square root will be omitted), but you can only retrieve squared distances
 	virtual void update(bool updateRealDist=true);
 
 	///retrieves distance and closestObstacle (closestObstacle is to be discarded if distance is maximum distance, the method does not write closestObstacle in this case).
-	///Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.
+	///Returns DynamicEDTOctomapBase::distanceValue_Error if point is outside the map.
 	void getDistanceAndClosestObstacle(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;
 
-	///retrieves distance at point. Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.
+	///retrieves distance at point. Returns DynamicEDTOctomapBase::distanceValue_Error if point is outside the map.
 	float getDistance(const octomap::point3d& p) const;
 
-	///retrieves distance at key. Returns DynamicEDTOctomap::distanceValue_Error if key is outside the map.
+	///retrieves distance at key. Returns DynamicEDTOctomapBase::distanceValue_Error if key is outside the map.
 	float getDistance(const octomap::OcTreeKey& k) const;
 
-	///retrieves squared distance in cells at point. Returns DynamicEDTOctomap::distanceInCellsValue_Error if point is outside the map.
+	///retrieves squared distance in cells at point. Returns DynamicEDTOctomapBase::distanceInCellsValue_Error if point is outside the map.
 	int getSquaredDistanceInCells(const octomap::point3d& p) const;
 
 	//variant of getDistanceAndClosestObstacle that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
@@ -111,7 +113,7 @@ class DynamicEDTOctomap: private DynamicEDT3D {
 	void mapToWorld(int x, int y, int z, octomap::point3d &p) const;
 	void mapToWorld(int x, int y, int z, octomap::OcTreeKey &key) const;
 
-	octomap::OcTree* octree;
+	TREE* octree;
 	bool unknownOccupied;
 	int treeDepth;
 	double treeResolution;
@@ -120,4 +122,9 @@ class DynamicEDTOctomap: private DynamicEDT3D {
 	int offsetX, offsetY, offsetZ;
 };
 
+typedef DynamicEDTOctomapBase<octomap::OcTree> DynamicEDTOctomap;
+typedef DynamicEDTOctomapBase<octomap::OcTreeStamped> DynamicEDTOctomapStamped;
+
+#include "dynamicEDTOctomap.hxx"
+
 #endif /* DYNAMICEDTOCTOMAP_H_ */