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ros-noetic-teb-local-planner.linux.patch
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diff --git a/include/teb_local_planner/timed_elastic_band.hpp b/include/teb_local_planner/timed_elastic_band.hpp
index 66c92b8..8a95eaf 100644
--- a/include/teb_local_planner/timed_elastic_band.hpp
+++ b/include/teb_local_planner/timed_elastic_band.hpp
@@ -36,6 +36,7 @@
* Author: Christoph Rösmann
*********************************************************************/
+#include <iterator>
#include <teb_local_planner/timed_elastic_band.h>
namespace teb_local_planner
@@ -49,7 +50,7 @@ bool TimedElasticBand::initTrajectoryToGoal(BidirIter path_start, BidirIter path
boost::optional<double> start_orientation, boost::optional<double> goal_orientation, int min_samples, bool guess_backwards_motion)
{
Eigen::Vector2d start_position = fun_position( *path_start );
- Eigen::Vector2d goal_position = fun_position( *boost::prior(path_end) );
+ Eigen::Vector2d goal_position = fun_position( *std::prev(path_end) );
bool backwards = false;
diff --git a/include/teb_local_planner/visualization.hpp b/include/teb_local_planner/visualization.hpp
index e619e52..548c57a 100644
--- a/include/teb_local_planner/visualization.hpp
+++ b/include/teb_local_planner/visualization.hpp
@@ -38,6 +38,7 @@
#include <teb_local_planner/visualization.h>
#include <boost/utility.hpp>
+#include <iterator>
namespace teb_local_planner
@@ -196,7 +197,7 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
{
// iterate single path points
typename PathType::const_iterator it_point, end_point;
- for (it_point = first->begin(), end_point = boost::prior(first->end()); it_point != end_point; ++it_point)
+ for (it_point = first->begin(), end_point = std::prev(first->end()); it_point != end_point; ++it_point)
{
geometry_msgs::Point point_start;
point_start.x = get_const_reference(*it_point).x();
@@ -205,8 +206,8 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
marker.points.push_back(point_start);
geometry_msgs::Point point_end;
- point_end.x = get_const_reference(*boost::next(it_point)).x();
- point_end.y = get_const_reference(*boost::next(it_point)).y();
+ point_end.x = get_const_reference(*std::next(it_point)).x();
+ point_end.y = get_const_reference(*std::next(it_point)).y();
point_end.z = 0;
marker.points.push_back(point_end);
}
diff --git a/cmake_modules/FindCSparse.cmake b/cmake_modules/FindCSparse.cmake
new file mode 100644
index 0000000..5550151
--- /dev/null
+++ b/cmake_modules/FindCSparse.cmake
@@ -0,0 +1,28 @@
+# Look for csparse; note the difference in the directory specifications!
+find_path(CSPARSE_INCLUDE_DIR NAMES cs.h
+ PATHS
+ /usr/include/suitesparse
+ /usr/include
+ /opt/local/include
+ /usr/local/include
+ /sw/include
+ /usr/include/ufsparse
+ /opt/local/include/ufsparse
+ /usr/local/include/ufsparse
+ /sw/include/ufsparse
+ PATH_SUFFIXES
+ suitesparse
+ )
+
+find_library(CSPARSE_LIBRARY NAMES cxsparse libcxsparse
+ PATHS
+ /usr/lib
+ /usr/local/lib
+ /opt/local/lib
+ /sw/lib
+ )
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CSPARSE DEFAULT_MSG
+ CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
+
diff --git a/cmake_modules/FindSUITESPARSE.cmake b/cmake_modules/FindSUITESPARSE.cmake
index 101b79b..aad8904 100644
--- a/cmake_modules/FindSUITESPARSE.cmake
+++ b/cmake_modules/FindSUITESPARSE.cmake
@@ -1,133 +1,531 @@
-# - Try to find SUITESPARSE
-# Once done this will define
-#
-# SUITESPARSE_FOUND - system has SUITESPARSE
-# SUITESPARSE_INCLUDE_DIRS - the SUITESPARSE include directory
-# SUITESPARSE_LIBRARIES - Link these to use SUITESPARSE
-# SUITESPARSE_SPQR_LIBRARY - name of spqr library (necessary due to error in debian package)
-# SUITESPARSE_SPQR_LIBRARY_DIR - name of spqr library (necessary due to error in debian package)
-# SUITESPARSE_LIBRARY_DIR - Library main directory containing suitesparse libs
-# SUITESPARSE_LIBRARY_DIRS - all Library directories containing suitesparse libs
-# SUITESPARSE_SPQR_VALID - automatic identification whether or not spqr package is installed correctly
-
-IF (SUITESPARSE_INCLUDE_DIRS)
- # Already in cache, be silent
- SET(SUITESPARSE_FIND_QUIETLY TRUE)
-ENDIF (SUITESPARSE_INCLUDE_DIRS)
-
-if( WIN32 )
- # Find cholmod part of the suitesparse library collection
-
- FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
- PATHS "C:\\libs\\win32\\SuiteSparse\\Include" )
-
- # Add cholmod include directory to collection include directories
- IF ( CHOLMOD_INCLUDE_DIR )
- list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
- ENDIF( CHOLMOD_INCLUDE_DIR )
-
-
- # find path suitesparse library
- FIND_PATH( SUITESPARSE_LIBRARY_DIRS
- amd.lib
- PATHS "C:\\libs\\win32\\SuiteSparse\\libs" )
-
- # if we found the library, add it to the defined libraries
- IF ( SUITESPARSE_LIBRARY_DIRS )
- list ( APPEND SUITESPARSE_LIBRARIES optimized;amd;optimized;camd;optimized;ccolamd;optimized;cholmod;optimized;colamd;optimized;metis;optimized;spqr;optimized;umfpack;debug;amdd;debug;camdd;debug;ccolamdd;debug;cholmodd;debug;spqrd;debug;umfpackd;debug;colamdd;debug;metisd;optimized;blas;optimized;libf2c;optimized;lapack;debug;blasd;debug;libf2cd;debug;lapackd )
- ENDIF( SUITESPARSE_LIBRARY_DIRS )
-
-else( WIN32 )
- IF(APPLE)
- FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
- PATHS /opt/local/include/ufsparse
- /usr/local/include )
-
- FIND_PATH( SUITESPARSE_LIBRARY_DIR
- NAMES libcholmod.a
- PATHS /opt/local/lib
- /usr/local/lib )
- ELSE(APPLE)
- FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
- PATHS /usr/local/include
- /usr/include
- /usr/include/suitesparse/
- ${CMAKE_SOURCE_DIR}/MacOS/Libs/cholmod
- PATH_SUFFIXES cholmod/ CHOLMOD/ )
-
- FIND_PATH( SUITESPARSE_LIBRARY_DIR
- NAMES libcholmod.so libcholmod.a
- PATHS /usr/lib
- /usr/lib64
- /usr/lib/x86_64-linux-gnu
- /usr/lib/i386-linux-gnu
- /usr/local/lib
- /usr/lib/arm-linux-gnueabihf/
- /usr/lib/aarch64-linux-gnu/
- /usr/lib/arm-linux-gnueabi/
- /usr/lib/arm-linux-gnu)
- ENDIF(APPLE)
-
- # Add cholmod include directory to collection include directories
- IF ( CHOLMOD_INCLUDE_DIR )
- list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
- ENDIF( CHOLMOD_INCLUDE_DIR )
-
- # if we found the library, add it to the defined libraries
- IF ( SUITESPARSE_LIBRARY_DIR )
-
- list ( APPEND SUITESPARSE_LIBRARIES amd)
- list ( APPEND SUITESPARSE_LIBRARIES btf)
- list ( APPEND SUITESPARSE_LIBRARIES camd)
- list ( APPEND SUITESPARSE_LIBRARIES ccolamd)
- list ( APPEND SUITESPARSE_LIBRARIES cholmod)
- list ( APPEND SUITESPARSE_LIBRARIES colamd)
- # list ( APPEND SUITESPARSE_LIBRARIES csparse)
- list ( APPEND SUITESPARSE_LIBRARIES cxsparse)
- list ( APPEND SUITESPARSE_LIBRARIES klu)
- # list ( APPEND SUITESPARSE_LIBRARIES spqr)
- list ( APPEND SUITESPARSE_LIBRARIES umfpack)
-
- IF (APPLE)
- list ( APPEND SUITESPARSE_LIBRARIES suitesparseconfig)
- ENDIF (APPLE)
-
- # Metis and spqr are optional
- FIND_LIBRARY( SUITESPARSE_METIS_LIBRARY
- NAMES metis
- PATHS ${SUITESPARSE_LIBRARY_DIR} )
- IF (SUITESPARSE_METIS_LIBRARY)
- list ( APPEND SUITESPARSE_LIBRARIES metis)
- ENDIF(SUITESPARSE_METIS_LIBRARY)
-
- if(EXISTS "${CHOLMOD_INCLUDE_DIR}/SuiteSparseQR.hpp")
- SET(SUITESPARSE_SPQR_VALID TRUE CACHE BOOL "SuiteSparseSPQR valid")
- else()
- SET(SUITESPARSE_SPQR_VALID false CACHE BOOL "SuiteSparseSPQR valid")
- endif()
-
- if(SUITESPARSE_SPQR_VALID)
- FIND_LIBRARY( SUITESPARSE_SPQR_LIBRARY
- NAMES spqr
- PATHS ${SUITESPARSE_LIBRARY_DIR} )
- IF (SUITESPARSE_SPQR_LIBRARY)
- list ( APPEND SUITESPARSE_LIBRARIES spqr)
- ENDIF (SUITESPARSE_SPQR_LIBRARY)
- endif()
-
- ENDIF( SUITESPARSE_LIBRARY_DIR )
-
-endif( WIN32 )
-
-
-IF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
- IF(WIN32)
- list (APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR}/../../UFconfig )
- ENDIF(WIN32)
- SET(SUITESPARSE_FOUND TRUE)
- MESSAGE(STATUS "Found SuiteSparse")
-ELSE (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
- SET( SUITESPARSE_FOUND FALSE )
- MESSAGE(FATAL_ERROR "Unable to find SuiteSparse")
-ENDIF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# 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.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# 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 OWNER 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.
+#
+# Author: [email protected] (Alex Stewart)
+#
+# FindSuiteSparse.cmake - Find SuiteSparse libraries & dependencies.
+#
+# This module defines the following variables:
+#
+# SUITESPARSE_FOUND: TRUE iff SuiteSparse and all dependencies have been found.
+# SUITESPARSE_INCLUDE_DIRS: Include directories for all SuiteSparse components.
+# SUITESPARSE_LIBRARIES: Libraries for all SuiteSparse component libraries and
+# dependencies.
+# SUITESPARSE_VERSION: Extracted from UFconfig.h (<= v3) or
+# SuiteSparse_config.h (>= v4).
+# SUITESPARSE_MAIN_VERSION: Equal to 4 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUB_VERSION: Equal to 2 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUBSUB_VERSION: Equal to 1 if SUITESPARSE_VERSION = 4.2.1
+#
+# SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION: TRUE iff running
+# on Ubuntu, SUITESPARSE_VERSION is 3.4.0 and found SuiteSparse is a system
+# install, in which case found version of SuiteSparse cannot be used to link
+# a shared library due to a bug (static linking is unaffected).
+#
+# The following variables control the behaviour of this module:
+#
+# SUITESPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for SuiteSparse includes,
+# e.g: /timbuktu/include.
+# SUITESPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for SuiteSparse libraries,
+# e.g: /timbuktu/lib.
+#
+# The following variables define the presence / includes & libraries for the
+# SuiteSparse components searched for, the SUITESPARSE_XX variables are the
+# union of the variables for all components.
+#
+# == Symmetric Approximate Minimum Degree (AMD)
+# AMD_FOUND
+# AMD_INCLUDE_DIR
+# AMD_LIBRARY
+#
+# == Constrained Approximate Minimum Degree (CAMD)
+# CAMD_FOUND
+# CAMD_INCLUDE_DIR
+# CAMD_LIBRARY
+#
+# == Column Approximate Minimum Degree (COLAMD)
+# COLAMD_FOUND
+# COLAMD_INCLUDE_DIR
+# COLAMD_LIBRARY
+#
+# Constrained Column Approximate Minimum Degree (CCOLAMD)
+# CCOLAMD_FOUND
+# CCOLAMD_INCLUDE_DIR
+# CCOLAMD_LIBRARY
+#
+# == Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
+# CHOLMOD_FOUND
+# CHOLMOD_INCLUDE_DIR
+# CHOLMOD_LIBRARY
+#
+# == Multifrontal Sparse QR (SuiteSparseQR)
+# SUITESPARSEQR_FOUND
+# SUITESPARSEQR_INCLUDE_DIR
+# SUITESPARSEQR_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version >= 4).
+# SUITESPARSE_CONFIG_FOUND
+# SUITESPARSE_CONFIG_INCLUDE_DIR
+# SUITESPARSE_CONFIG_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version < 4).
+# UFCONFIG_FOUND
+# UFCONFIG_INCLUDE_DIR
+#
+# Optional SuiteSparse Dependencies:
+#
+# == Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
+# METIS_FOUND
+# METIS_LIBRARY
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindSuiteSparse was invoked.
+macro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+endmacro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find SuiteSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(SUITESPARSE_REPORT_NOT_FOUND REASON_MSG)
+ unset(SUITESPARSE_FOUND)
+ unset(SUITESPARSE_INCLUDE_DIRS)
+ unset(SUITESPARSE_LIBRARIES)
+ unset(SUITESPARSE_VERSION)
+ unset(SUITESPARSE_MAIN_VERSION)
+ unset(SUITESPARSE_SUB_VERSION)
+ unset(SUITESPARSE_SUBSUB_VERSION)
+ # Do NOT unset SUITESPARSE_FOUND_REQUIRED_VARS here, as it is used by
+ # FindPackageHandleStandardArgs() to generate the automatic error message on
+ # failure which highlights which components are missing.
+
+ suitesparse_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (SuiteSparse_FIND_QUIETLY)
+ message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ elseif (SuiteSparse_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+ # but continues configuration and allows generation.
+ message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+ endif (SuiteSparse_FIND_QUIETLY)
+
+ # Do not call return(), s/t we keep processing if not called with REQUIRED
+ # and report all missing components, rather than bailing after failing to find
+ # the first.
+endmacro(SUITESPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set SUITESPARSE_FOUND, but
+# not the other variables we require / set here which could cause the search
+# logic here to fail.
+unset(SUITESPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also SUITESPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# On macOS, add the Homebrew prefix (with appropriate suffixes) to the
+# respective HINTS directories (after any user-specified locations). This
+# handles Homebrew installations into non-standard locations (not /usr/local).
+# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of
+# find_xxx(), doing so would override any user-specified HINTS locations with
+# the Homebrew version if it exists.
+if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+ find_program(HOMEBREW_EXECUTABLE brew)
+ mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
+ if (HOMEBREW_EXECUTABLE)
+ # Detected a Homebrew install, query for its install prefix.
+ execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
+ OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ message(STATUS "Detected Homebrew with install prefix: "
+ "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
+ list(APPEND SUITESPARSE_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include")
+ list(APPEND SUITESPARSE_LIBRARY_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/lib")
+ endif()
+endif()
+
+# Specify search directories for include files and libraries (this is the union
+# of the search directories for all OSs). Search user-specified hint
+# directories first if supplied, and search user-installed locations first
+# so that we prefer user installs to system installs where both exist.
+list(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS
+ /opt/local/include
+ /opt/local/include/ufsparse # Mac OS X
+ /usr/local/homebrew/include # Mac OS X
+ /usr/local/include
+ /usr/include)
+list(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS
+ /opt/local/lib
+ /opt/local/lib/ufsparse # Mac OS X
+ /usr/local/homebrew/lib # Mac OS X
+ /usr/local/lib
+ /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND SUITESPARSE_CHECK_PATH_SUFFIXES
+ suitesparse) # Windows/Ubuntu
+
+# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
+#
+# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
+# [LIBRARIES name1 [name2 ...]]
+# [REQUIRED])
+macro(suitesparse_find_component COMPONENT)
+ include(CMakeParseArguments)
+ set(OPTIONS REQUIRED)
+ set(MULTI_VALUE_ARGS FILES LIBRARIES)
+ cmake_parse_arguments(SUITESPARSE_FIND_${COMPONENT}
+ "${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
+
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS ${COMPONENT}_FOUND)
+ endif()
+
+ set(${COMPONENT}_FOUND TRUE)
+ if (SUITESPARSE_FIND_${COMPONENT}_FILES)
+ find_path(${COMPONENT}_INCLUDE_DIR
+ NAMES ${SUITESPARSE_FIND_${COMPONENT}_FILES}
+ HINTS ${SUITESPARSE_INCLUDE_DIR_HINTS}
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+ if (${COMPONENT}_INCLUDE_DIR)
+ message(STATUS "Found ${COMPONENT} headers in: "
+ "${${COMPONENT}_INCLUDE_DIR}")
+ mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+ else()
+ # Specified headers not found.
+ set(${COMPONENT}_FOUND FALSE)
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ suitesparse_report_not_found(
+ "Did not find ${COMPONENT} header (required SuiteSparse component).")
+ else()
+ message(STATUS "Did not find ${COMPONENT} header (optional "
+ "SuiteSparse component).")
+ # Hide optional vars from CMake GUI even if not found.
+ mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+ endif()
+ endif()
+ endif()
+
+ if (SUITESPARSE_FIND_${COMPONENT}_LIBRARIES)
+ find_library(${COMPONENT}_LIBRARY
+ NAMES ${SUITESPARSE_FIND_${COMPONENT}_LIBRARIES}
+ HINTS ${SUITESPARSE_LIBRARY_DIR_HINTS}
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+ if (${COMPONENT}_LIBRARY)
+ message(STATUS "Found ${COMPONENT} library: ${${COMPONENT}_LIBRARY}")
+ mark_as_advanced(${COMPONENT}_LIBRARY)
+ else ()
+ # Specified libraries not found.
+ set(${COMPONENT}_FOUND FALSE)
+ if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+ suitesparse_report_not_found(
+ "Did not find ${COMPONENT} library (required SuiteSparse component).")
+ else()
+ message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
+ "dependency)")
+ # Hide optional vars from CMake GUI even if not found.
+ mark_as_advanced(${COMPONENT}_LIBRARY)
+ endif()
+ endif()
+ endif()
+endmacro()
+
+# Given the number of components of SuiteSparse, and to ensure that the
+# automatic failure message generated by FindPackageHandleStandardArgs()
+# when not all required components are found is helpful, we maintain a list
+# of all variables that must be defined for SuiteSparse to be considered found.
+unset(SUITESPARSE_FOUND_REQUIRED_VARS)
+
+# BLAS.
+find_package(BLAS QUIET)
+if (NOT BLAS_FOUND)
+ suitesparse_report_not_found(
+ "Did not find BLAS library (required for SuiteSparse).")
+endif (NOT BLAS_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS BLAS_FOUND)
+
+# LAPACK.
+find_package(LAPACK QUIET)
+if (NOT LAPACK_FOUND)
+ suitesparse_report_not_found(
+ "Did not find LAPACK library (required for SuiteSparse).")
+endif (NOT LAPACK_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS LAPACK_FOUND)
+
+suitesparse_find_component(AMD REQUIRED FILES amd.h LIBRARIES amd)
+suitesparse_find_component(CAMD REQUIRED FILES camd.h LIBRARIES camd)
+suitesparse_find_component(COLAMD REQUIRED FILES colamd.h LIBRARIES colamd)
+suitesparse_find_component(CCOLAMD REQUIRED FILES ccolamd.h LIBRARIES ccolamd)
+suitesparse_find_component(CHOLMOD REQUIRED FILES cholmod.h LIBRARIES cholmod)
+suitesparse_find_component(
+ SUITESPARSEQR REQUIRED FILES SuiteSparseQR.hpp LIBRARIES spqr)
+if (SUITESPARSEQR_FOUND)
+ # SuiteSparseQR may be compiled with Intel Threading Building Blocks,
+ # we assume that if TBB is installed, SuiteSparseQR was compiled with
+ # support for it, this will do no harm if it wasn't.
+ find_package(TBB QUIET)
+ if (TBB_FOUND)
+ message(STATUS "Found Intel Thread Building Blocks (TBB) library "
+ "(${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} / ${TBB_INTERFACE_VERSION}) "
+ "include location: ${TBB_INCLUDE_DIRS}. Assuming SuiteSparseQR was "
+ "compiled with TBB.")
+ # Add the TBB libraries to the SuiteSparseQR libraries (the only
+ # libraries to optionally depend on TBB).
+ list(APPEND SUITESPARSEQR_LIBRARY ${TBB_LIBRARIES})
+ else()
+ message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
+ "not compiled with TBB.")
+ endif()
+endif(SUITESPARSEQR_FOUND)
+
+# UFconfig / SuiteSparse_config.
+#
+# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
+# For SuiteSparse 3, UFconfig.h is required.
+suitesparse_find_component(
+ SUITESPARSE_CONFIG FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
+
+if (SUITESPARSE_CONFIG_FOUND)
+ # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
+ # timing by default when compiled on Linux or Unix, but not on OSX (which
+ # does not have librt).
+ if (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+ suitesparse_find_component(LIBRT LIBRARIES rt)
+ if (LIBRT_FOUND)
+ message(STATUS "Adding librt: ${LIBRT_LIBRARY} to "
+ "SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
+ "SuiteSparse is compiled with timing).")
+ list(APPEND SUITESPARSE_CONFIG_LIBRARY ${LIBRT_LIBRARY})
+ else()
+ message(STATUS "Could not find librt, but found SuiteSparse_config, "
+ "assuming that SuiteSparse was compiled without timing.")
+ endif ()
+ endif (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+else()
+ # Failed to find SuiteSparse_config (>= v4 installs), instead look for
+ # UFconfig header which should be present in < v4 installs.
+ suitesparse_find_component(UFCONFIG FILES UFconfig.h)
+endif ()
+
+if (NOT SUITESPARSE_CONFIG_FOUND AND
+ NOT UFCONFIG_FOUND)
+ suitesparse_report_not_found(
+ "Failed to find either: SuiteSparse_config header & library (should be "
+ "present in all SuiteSparse >= v4 installs), or UFconfig header (should "
+ "be present in all SuiteSparse < v4 installs).")
+endif()
+
+# Extract the SuiteSparse version from the appropriate header (UFconfig.h for
+# <= v3, SuiteSparse_config.h for >= v4).
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS SUITESPARSE_VERSION)
+
+if (UFCONFIG_FOUND)
+ # SuiteSparse version <= 3.
+ set(SUITESPARSE_VERSION_FILE ${UFCONFIG_INCLUDE_DIR}/UFconfig.h)
+ if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ suitesparse_report_not_found(
+ "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+ "information for <= v3 SuiteSparse installs, but UFconfig was found "
+ "(only present in <= v3 installs).")
+ else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ file(READ ${SUITESPARSE_VERSION_FILE} UFCONFIG_CONTENTS)
+
+ string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+ set(SUITESPARSE_VERSION
+ "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (UFCONFIG_FOUND)
+
+if (SUITESPARSE_CONFIG_FOUND)
+ # SuiteSparse version >= 4.
+ set(SUITESPARSE_VERSION_FILE
+ ${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h)
+ if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ suitesparse_report_not_found(
+ "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+ "information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
+ "found (only present in >= v4 installs).")
+ else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+ file(READ ${SUITESPARSE_VERSION_FILE} SUITESPARSE_CONFIG_CONTENTS)
+
+ string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+ set(SUITESPARSE_VERSION
+ "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (SUITESPARSE_CONFIG_FOUND)
+
+# METIS (Optional dependency).
+suitesparse_find_component(METIS LIBRARIES metis)
+
+# Only mark SuiteSparse as found if all required components and dependencies
+# have been found.
+set(SUITESPARSE_FOUND TRUE)
+foreach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+ if (NOT ${REQUIRED_VAR})
+ set(SUITESPARSE_FOUND FALSE)
+ endif (NOT ${REQUIRED_VAR})
+endforeach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+
+if (SUITESPARSE_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${AMD_INCLUDE_DIR}
+ ${CAMD_INCLUDE_DIR}
+ ${COLAMD_INCLUDE_DIR}
+ ${CCOLAMD_INCLUDE_DIR}
+ ${CHOLMOD_INCLUDE_DIR}
+ ${SUITESPARSEQR_INCLUDE_DIR})
+ # Handle config separately, as otherwise at least one of them will be set
+ # to NOTFOUND which would cause any check on SUITESPARSE_INCLUDE_DIRS to fail.
+ if (SUITESPARSE_CONFIG_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ endif (SUITESPARSE_CONFIG_FOUND)
+ if (UFCONFIG_FOUND)
+ list(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${UFCONFIG_INCLUDE_DIR})
+ endif (UFCONFIG_FOUND)
+ # As SuiteSparse includes are often all in the same directory, remove any
+ # repetitions.
+ list(REMOVE_DUPLICATES SUITESPARSE_INCLUDE_DIRS)
+
+ # Important: The ordering of these libraries is *NOT* arbitrary, as these
+ # could potentially be static libraries their link ordering is important.
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSEQR_LIBRARY}
+ ${CHOLMOD_LIBRARY}
+ ${CCOLAMD_LIBRARY}
+ ${CAMD_LIBRARY}
+ ${COLAMD_LIBRARY}
+ ${AMD_LIBRARY}
+ ${LAPACK_LIBRARIES}
+ ${BLAS_LIBRARIES})
+ if (SUITESPARSE_CONFIG_FOUND)
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSE_CONFIG_LIBRARY})
+ endif (SUITESPARSE_CONFIG_FOUND)
+ if (METIS_FOUND)
+ list(APPEND SUITESPARSE_LIBRARIES
+ ${METIS_LIBRARY})
+ endif (METIS_FOUND)
+endif()
+
+# Determine if we are running on Ubuntu with the package install of SuiteSparse
+# which is broken and does not support linking a shared library.
+set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION FALSE)
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+ find_program(LSB_RELEASE_EXECUTABLE lsb_release)
+ if (LSB_RELEASE_EXECUTABLE)
+ # Any even moderately recent Ubuntu release (likely to be affected by
+ # this bug) should have lsb_release, if it isn't present we are likely
+ # on a different Linux distribution (should be fine).
+ execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
+ OUTPUT_VARIABLE LSB_DISTRIBUTOR_ID
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+ if (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ # We are on Ubuntu, and the SuiteSparse version matches the broken
+ # system install version and is a system install.
+ set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE)
+ message(STATUS "Found system install of SuiteSparse "
+ "${SUITESPARSE_VERSION} running on Ubuntu, which has a known bug "
+ "preventing linking of shared libraries (static linking unaffected).")
+ endif (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ endif (LSB_RELEASE_EXECUTABLE)
+endif (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+
+suitesparse_reset_find_library_prefix()
+
+# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
+include(FindPackageHandleStandardArgs)
+if (SUITESPARSE_FOUND)
+ find_package_handle_standard_args(SuiteSparse
+ REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+ VERSION_VAR SUITESPARSE_VERSION
+ FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+else (SUITESPARSE_FOUND)
+ # Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
+ # find SuiteSparse to avoid a confusing autogenerated failure message
+ # that states 'not found (missing: FOO) (found version: x.y.z)'.
+ find_package_handle_standard_args(SuiteSparse
+ REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+ FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+endif (SUITESPARSE_FOUND)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 97fe249..f37beee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,6 +34,7 @@ message(STATUS "${CMAKE_MODULE_PATH}")
find_package(Boost REQUIRED COMPONENTS system thread graph)
find_package(SUITESPARSE REQUIRED)
find_package(G2O REQUIRED)
+find_package(CSparse REQUIRED)
# Eigen3 FindScript Backward compatibility (ubuntu saucy)
# Since FindEigen.cmake is deprecated starting from jade.
@@ -48,7 +49,7 @@ elseif (EXISTS "FindEigen.cmake")
endif (EXISTS "FindEigen3.cmake")
set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR})
-set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES})
+set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES} ${CSPARSE_LIBRARY} ${Boost_LIBRARIES} Boost::boost)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed