Update CMakeFiles, correct deps and formatting. (#10)

Author: destogl

kinematics_interface/CMakeLists.txt

@@ -1,35 +1,28 @@
 cmake_minimum_required(VERSION 3.5)
 project(kinematics_interface)
 
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
-endif ()
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+    rclcpp_lifecycle
+)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
 # Create interface library for kinematics base class
-add_library(kinematics_interface
-    INTERFACE
-)
-
-target_include_directories(
-    kinematics_interface
-    INTERFACE
-    include
-)
-
-ament_target_dependencies(
-    kinematics_interface
-    INTERFACE
-    rclcpp_lifecycle
-)
+add_library(kinematics_interface INTERFACE)
+target_include_directories(kinematics_interface INTERFACE include)
+ament_target_dependencies(kinematics_interface INTERFACE ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -40,7 +33,7 @@ install(DIRECTORY include/
 )
 
 ament_export_dependencies(
-    rclcpp_lifecycle
+    ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
 ament_export_include_directories(

kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp

@@ -15,10 +15,14 @@
 /// \author: Andy Zelenak, Paul Gesel
 /// \description: Base class for kinematics interface
 
-#ifndef IK_PLUGIN_BASE__IK_PLUGIN_BASE_HPP_
-#define IK_PLUGIN_BASE__IK_PLUGIN_BASE_HPP_
+#ifndef KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_BASE_HPP_
+#define KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_BASE_HPP_
 
-#include <rclcpp_lifecycle/lifecycle_node.hpp>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 namespace kinematics_interface
 {
@@ -83,4 +87,4 @@ class KinematicsBaseClass
 
 }  // namespace kinematics_interface
 
-#endif  // IK_PLUGIN_BASE__IK_PLUGIN_BASE_HPP_
+#endif  // KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_BASE_HPP_

kinematics_interface_kdl/CMakeLists.txt

@@ -5,42 +5,40 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  Eigen3
+  kdl_parser
+  kinematics_interface
+  pluginlib
+)
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(kdl_parser REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(kinematics_interface REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
-add_library(kinematics_interface_kdl SHARED
-        src/kinematics_interface_kdl.cpp
-)
-
-ament_target_dependencies(kinematics_interface_kdl
-        kdl_parser
-        pluginlib
-        Eigen3
-        kinematics_interface
-)
 
-target_include_directories(
-        kinematics_interface_kdl
-        PRIVATE
-        include
+add_library(
+  ${PROJECT_NAME}
+  SHARED
+  src/kinematics_interface_kdl.cpp
 )
+target_include_directories(${PROJECT_NAME} PRIVATE include)
+ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-pluginlib_export_plugin_description_file(kinematics_interface_kdl kinematics_interface_kdl.xml)
+pluginlib_export_plugin_description_file(kinematics_interface kinematics_interface_kdl.xml)
 
 install(
-        TARGETS kinematics_interface_kdl
-        RUNTIME DESTINATION bin
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
+  TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
 )
 
 install(
-        DIRECTORY include/
-        DESTINATION include
+  DIRECTORY include/
+  DESTINATION include
 )
 
 
@@ -49,17 +47,25 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(
-          test_kinematics_interface_kdl
-          test/test_kinematics_interface_kdl.cpp
+    test_${PROJECT_NAME}
+    test/test_kinematics_interface_kdl.cpp
   )
-  target_include_directories(test_kinematics_interface_kdl PRIVATE include)
-  ament_target_dependencies(test_kinematics_interface_kdl
-          kinematics_interface
-          ros2_control_test_assets
-          pluginlib
-          ros2_control_test_assets
+  target_include_directories(test_${PROJECT_NAME} PRIVATE include)
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+  ament_target_dependencies(test_${PROJECT_NAME}
+    ${THIS_PACKAGE_INCLUDE_DEPENDS}
+    ros2_control_test_assets
   )
-
 endif()
 
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_export_include_directories(
+  include
+)
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
 ament_package()

kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp

@@ -15,17 +15,24 @@
 /// \author: Andy Zelenak, Paul Gesel
 /// \description: KDL plugin for kinematics interface
 
-#pragma once
+#ifndef KINEMATICS_INTERFACE_KDL__KINEMATICS_INTERFACE_KDL_HPP_
+#define KINEMATICS_INTERFACE_KDL__KINEMATICS_INTERFACE_KDL_HPP_
+
+#include "kinematics_interface/kinematics_interface_base.hpp"
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
 
-#include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include "eigen3/Eigen/Core"
 #include "eigen3/Eigen/LU"
 #include "kdl/chainfksolverpos_recursive.hpp"
 #include "kdl/chainfksolvervel_recursive.hpp"
 #include "kdl/chainjnttojacsolver.hpp"
 #include "kdl/treejnttojacsolver.hpp"
 #include "kdl_parser/kdl_parser.hpp"
-#include "kinematics_interface/kinematics_interface_base.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 namespace kinematics_interface_kdl
 {
@@ -88,7 +95,7 @@ class KDLKinematics : public kinematics_interface::KinematicsBaseClass
 private:
   bool update_joint_array(const std::vector<double> & joint_pos);
 
-  //verification methods
+  // verification methods
   bool verify_initialized();
   bool verify_link_name(const std::string & link_name);
   bool verify_transform_vector(const std::vector<double> & transform);
@@ -114,3 +121,5 @@ class KDLKinematics : public kinematics_interface::KinematicsBaseClass
 };
 
 }  // namespace kinematics_interface_kdl
+
+#endif  // KINEMATICS_INTERFACE_KDL__KINEMATICS_INTERFACE_KDL_HPP_

kinematics_interface_kdl/package.xml

@@ -15,6 +15,7 @@
 
   <build_depend>eigen</build_depend>
 
+  <depend>eigen</depend>
   <depend>kdl_parser</depend>
   <depend>kinematics_interface</depend>
   <depend>pluginlib</depend>