Modernize CMake scripts

CMakeLists.txt

@@ -1,21 +1,23 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
-PROJECT( octomap-distribution )
+cmake_minimum_required(VERSION 3.10...4.1)
+project(
+    octomap-distribution
+    VERSION 1.10.0
+    LANGUAGES NONE
+)
 
-ENABLE_TESTING()  # enable CTest environment of subprojects
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # enables -fPIC in applicable compilers (required to avoid link errors in some cases)
+include(CTest)
 
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 option(BUILD_OCTOVIS_SUBPROJECT "Build targets from subproject octovis" ON)
-option(BUILD_DYNAMICETD3D_SUBPROJECT  "Build targets from subproject dynamicEDT3D" ON)
-option(OCTOVIS_QT6 "Link Octovis against Qt6?" ON)
-
-set(CMAKE_CXX_STANDARD 11)
-
-ADD_SUBDIRECTORY( octomap )
+option(BUILD_DYNAMICETD3D_SUBPROJECT
+       "Build targets from subproject dynamicEDT3D" ON
+)
 
+add_subdirectory(octomap)
 if(BUILD_OCTOVIS_SUBPROJECT)
-	ADD_SUBDIRECTORY( octovis )
+    set(OCTOVIS_BUILD_OPTIONAL TRUE)
+    add_subdirectory(octovis)
 endif()
-
 if(BUILD_DYNAMICETD3D_SUBPROJECT)
-	ADD_SUBDIRECTORY( dynamicEDT3D )
+    add_subdirectory(dynamicEDT3D)
 endif()

dynamicEDT3D/CMakeLists.txt

@@ -1,177 +1,139 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
-PROJECT(dynamicEDT3D)
-
-include(CTest)
-include(GNUInstallDirs)
+cmake_minimum_required(VERSION 3.10...4.1)
+project(
+    dynamicEDT3D
+    VERSION 1.10.0
+    LANGUAGES CXX
+)
 
-# version (e.g. for packaging)
-set(DYNAMICEDT3D_MAJOR_VERSION 1)
-set(DYNAMICEDT3D_MINOR_VERSION 10)
-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")
-
-# COMPILER SETTINGS (default: Release) and flags
-INCLUDE(CompilerSettings)
-
-
-# Set output directories for libraries and executables
-SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
-SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
-SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
-SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BASE_DIR}/bin )
-# output dirs for multi-config builds (MSVC)
-foreach( OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES} )
-  STRING( TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG )
-  SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
-  SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
-  SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/bin )
-endforeach( OUTPUTCONFIG CMAKE_CONFIGURATION_TYPES )
-
-set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
-INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-
-LINK_DIRECTORIES(${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
+option(DYNAMICEDT3D_BUILD_EXAMPLES "Build examples" ON)
 
-# Installation
+include(CMakePackageConfigHelpers)
+include(GNUInstallDirs)
 
-set(INSTALL_TARGETS_DEFAULT_ARGS
-	RUNTIME DESTINATION bin
-	LIBRARY DESTINATION lib
-	ARCHIVE DESTINATION lib
-)
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules")
+include(CompilerSettings)
+include(InstallPkgConfigFile)
 
-find_package(octomap REQUIRED
-  HINTS ${CMAKE_SOURCE_DIR}/lib/cmake/octomap
-   ${CMAKE_SOURCE_DIR}/../octomap/lib/cmake/octomap
+# version (e.g. for packaging)
+set(DYNAMICEDT3D_MAJOR_VERSION ${PROJECT_VERSION_MAJOR})
+set(DYNAMICEDT3D_MINOR_VERSION ${PROJECT_VERSION_MINOR})
+set(DYNAMICEDT3D_PATCH_VERSION ${PROJECT_VERSION_PATCH})
+set(DYNAMICEDT3D_VERSION ${PROJECT_VERSION})
+set(DYNAMICEDT3D_SOVERSION
+    "${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}"
 )
-MESSAGE(STATUS "Found octomap version: " ${octomap_VERSION})
-MESSAGE(STATUS "octomap libraries: ${OCTOMAP_LIBRARIES}")
-
-INCLUDE_DIRECTORIES(BEFORE SYSTEM ${OCTOMAP_INCLUDE_DIRS})
 
-ADD_SUBDIRECTORY(src)
+if(NOT TARGET octomap::octomap)
+    find_package(octomap "${DYNAMICEDT3D_VERSION}" REQUIRED)
+endif()
 
+set(DYNAMICEDT3D_FIND_DEPENDENCIES
+    "include(CMakeFindDependencyMacro)\nfind_dependency(octomap ${DYNAMICEDT3D_VERSION})"
+)
 
-file(GLOB dynamicEDT3D_HDRS ${PROJECT_SOURCE_DIR}/include/dynamicEDT3D/*.h ${PROJECT_SOURCE_DIR}/include/dynamicEDT3D/*.hxx)
-install(FILES ${dynamicEDT3D_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/dynamicEDT3D")
+set(dynamicEDT3D_SOURCES src/dynamicEDT3D.cpp)
 
-# Install catkin package.xml, attention package.xml names the catkin package "dynamic_edt_3d", so this is also the location where it needs to be installed to (and not "dynamicEDT3D")
-install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamic_edt_3d")
+add_library(dynamicEDT3D ${dynamicEDT3D_SOURCES})
+target_compile_features(dynamicEDT3D PUBLIC cxx_std_11)
+target_include_directories(
+    dynamicEDT3D PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                        $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+set_target_properties(
+    dynamicEDT3D
+    PROPERTIES VERSION "${DYNAMICEDT3D_VERSION}"
+               SOVERSION "${DYNAMICEDT3D_SOVERSION}"
+               OUTPUT_NAME "dynamicedt3d"
+)
+target_link_libraries(dynamicEDT3D PUBLIC octomap::octomap)
+add_library(octomap::dynamicEDT3D ALIAS dynamicEDT3D)
 
-# Allows Colcon to find non-Ament packages when using workspace underlays
-file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
+# Examples
+if(DYNAMICEDT3D_BUILD_EXAMPLES)
+    add_executable(exampleEDT3D src/examples/exampleEDT3D.cpp)
+    target_link_libraries(exampleEDT3D PRIVATE dynamicEDT3D)
 
-#TODO: this conflicts with the octomap uninstall
-#it is not only a target name problem, also both will use the same manifest file
-#in the same binary directory
-if(NOT TARGET uninstall)
-    configure_file(
-        "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
-        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-        IMMEDIATE @ONLY)
+    add_executable(exampleEDTOctomap src/examples/exampleEDTOctomap.cpp)
+    target_link_libraries(exampleEDTOctomap PRIVATE dynamicEDT3D)
 
-    add_custom_target(uninstall
-        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+    add_executable(
+        exampleEDTOctomapStamped src/examples/exampleEDTOctomapStamped.cpp
+    )
+    target_link_libraries(exampleEDTOctomapStamped PRIVATE dynamicEDT3D)
 endif()
 
-# Export the package for use from the build-tree
-# (this registers the build-tree with a global CMake-registry)
+# Export build tree
+configure_package_config_file(
+    dynamicedt3d-config.cmake.in
+    "${CMAKE_CURRENT_BINARY_DIR}/dynamicedt3d-config.cmake"
+    INSTALL_DESTINATION "${CMAKE_CURRENT_BINARY_DIR}"
+)
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/dynamicedt3d-config-version.cmake"
+    VERSION ${DYNAMICEDT3D_VERSION}
+    COMPATIBILITY SameMinorVersion
+)
+export(
+    TARGETS dynamicEDT3D
+    NAMESPACE octomap::
+    FILE "${CMAKE_CURRENT_BINARY_DIR}/dynamicedt3d-targets.cmake"
+)
 export(PACKAGE dynamicEDT3D)
 
-# Create a dynamicEDT3DConfig.cmake file for the use from the build tree
-set(DYNAMICEDT3D_INCLUDE_DIRS "${INCLUDE_DIRS}")
-set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
-# Set library names as absolute paths
-# Windows, spec. MSVC requires the .lib suffix for imported libs
-IF(WIN32)
-  set(DYNAMICEDT3D_LIBRARY
-    "${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
-  )
-ELSE()
-  set(DYNAMICEDT3D_LIBRARY
-    "${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
-  )
-ENDIF()
-# not used right now (export depends?)
-#set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-include(CMakePackageConfigHelpers)
+# Installation
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(TARGETS dynamicEDT3D EXPORT dynamicedt3d-targets)
+install(
+    EXPORT dynamicedt3d-targets
+    NAMESPACE octomap::
+    DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/dynamicEDT3D"
+)
+set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_INCLUDEDIR}")
+set(DYNAMICEDT3D_LIBRARY_DIRS "${CMAKE_INSTALL_LIBDIR}")
+configure_package_config_file(
+    dynamicedt3d-config.cmake.in
+    "${CMAKE_CURRENT_BINARY_DIR}/InstallFiles/dynamicedt3d-config.cmake"
+    INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/dynamicEDT3D"
+)
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/InstallFiles/dynamicedt3d-config-version.cmake"
+    VERSION ${DYNAMICEDT3D_VERSION}
+    COMPATIBILITY SameMinorVersion
+)
+install(
+    FILES
+        "${CMAKE_CURRENT_BINARY_DIR}/InstallFiles/dynamicedt3d-config.cmake"
+        "${CMAKE_CURRENT_BINARY_DIR}/InstallFiles/dynamicedt3d-config-version.cmake"
+    DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/dynamicEDT3D"
+)
 
-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_FULL_DATADIR}/dynamicEDT3D")
-
-WRITE_BASIC_PACKAGE_VERSION_FILE(
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake"
-  VERSION ${DYNAMICEDT3D_VERSION}
-  COMPATIBILITY AnyNewerVersion)
-
-# Install the export set for use with the install-tree
-#install(EXPORT FooBarLibraryDepends DESTINATION
-#  "${INSTALL_DATA_DIR}/FooBar/CMake"
-#  COMPONENT dev)
-
-# Create a dynamicEDT3DConfig.cmake file for the use from the install tree
-# and install it
-set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
-set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_FULL_LIBDIR}")
-#set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-
-set(DYNAMICEDT3D_INCLUDE_TARGETS
-  "include(\${CMAKE_CURRENT_LIST_DIR}/dynamicEDT3DTargets.cmake)")
-
-CONFIGURE_PACKAGE_CONFIG_FILE(
-  dynamicEDT3DConfig.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
-  PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
-  INSTALL_DESTINATION "${CMAKE_INSTALL_FULL_DATADIR}/dynamicEDT3D")
-
-WRITE_BASIC_PACKAGE_VERSION_FILE(
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
-  VERSION ${DYNAMICEDT3D_VERSION}
-  COMPATIBILITY AnyNewerVersion)
-
-install(FILES
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
-  DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamicEDT3D")
-
-# Write pkgconfig-file:
+# ROS support
+install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamicEDT3D")
+
+# pkg-config support
 include(InstallPkgConfigFile)
-install_pkg_config_file(dynamicEDT3D
+install_pkg_config_file(
+    dynamicEDT3D
     CFLAGS
-    LIBS -ldynamicEDT3D
+    LIBS
+    -ldynamicedt3d
     REQUIRES
-    VERSION ${DYNAMICEDT3D_VERSION})
-
+    octomap
+    VERSION
+    ${DYNAMICEDT3D_VERSION}
+)
 
 # Documentation
-FIND_PACKAGE(Doxygen)
-IF(DOXYGEN_FOUND)
-  ADD_CUSTOM_TARGET(docs_dynamicEDT3D ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dynamicEDT3D.dox
-    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
-    COMMENT "Generating documentation (Doxygen)...")
-ENDIF(DOXYGEN_FOUND)
+find_package(Doxygen QUIET)
+if(DOXYGEN_FOUND)
+    add_custom_target(
+        docs_dynamicEDT3D
+        COMMAND ${DOXYGEN_EXECUTABLE}
+                ${CMAKE_CURRENT_SOURCE_DIR}/dynamicEDT3D.dox
+        WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+        COMMENT "Generating documentation (Doxygen)"
+    )
+endif(DOXYGEN_FOUND)
 
 # Needs to be last statement:
-INCLUDE(CPackSettings)
-
-# Finished:
-MESSAGE (STATUS "\n")
-MESSAGE (STATUS "Compile dynamicEDT3D using: make")
-MESSAGE (STATUS "Install dynamicEDT3D using: make install")
-MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
-MESSAGE (STATUS "Compile API-documentation using: make docs_dynamicEDT3D\n")
+include(CPackSettings)