Merge pull request #34 from seanyen/seanyen/windows

[melodic-devel] Windows bringup
ros-perception · Sep 30, 2021 · 5e9a6f7 · 5e9a6f7
2 parents ee1e33b + 25e662f
commit 5e9a6f7
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Showing 38 changed files with 173 additions and 101 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,13 +4,19 @@ project(openslam_gmapping)
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED)
 
+include(GenerateExportHeader)
+set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include")
+file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}")
+
 ###################################
 ## catkin specific configuration ##
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS
+    include
+    ${EXPORT_HEADER_DIR}
   LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
 )
 
@@ -20,7 +26,10 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include)
+include_directories(
+  include
+  ${EXPORT_HEADER_DIR}
+)
 
 #SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui
 
@@ -152,9 +161,13 @@ target_link_libraries(gridfastslam
 # )
 
 ## Mark executables and/or libraries for installation
-install(TARGETS utils autoptr_test sensor_base sensor_odometry sensor_range sensor_range log log_test log_plot scanstudio2carmen rdk2carmen configfile configfile_test scanmatcher scanmatch_test icptest gridfastslam gfs2log gfs2rec gfs2neff
+install(TARGETS utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(TARGETS autoptr_test log_test log_plot scanstudio2carmen rdk2carmen configfile_test scanmatch_test icptest gfs2log gfs2rec gfs2neff
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
@@ -165,6 +178,27 @@ install(DIRECTORY include/gmapping
   PATTERN ".svn" EXCLUDE
 )
 
+generate_export_header(utils
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/utils/utils_export.h)
+generate_export_header(sensor_base
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_base/sensor_base_export.h)
+generate_export_header(sensor_odometry
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_odometry/sensor_odometry_export.h)
+generate_export_header(sensor_range
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_range/sensor_range_export.h)
+generate_export_header(log
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/log/log_export.h)
+generate_export_header(configfile
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/configfile/configfile_export.h)
+generate_export_header(scanmatcher
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/scanmatcher/scanmatcher_export.h)
+generate_export_header(gridfastslam
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/gridfastslam/gridfastslam_export.h)
+
+install(DIRECTORY
+  ${EXPORT_HEADER_DIR}/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
 #############
 ## Testing ##
 #############

diff --git a/carmenwrapper/carmenwrapper.cpp b/carmenwrapper/carmenwrapper.cpp
@@ -177,7 +177,7 @@ bool CarmenWrapper::getReading(RangeReading& reading){
 	sem_wait(&m_dequeSem);
 	pthread_mutex_lock(&m_mutex);
 	if (!m_rangeDeque.empty()){
-//		cerr << __PRETTY_FUNCTION__ << ": queue size=" <<m_rangeDeque.size() << endl;
+//		cerr << __func__ << ": queue size=" <<m_rangeDeque.size() << endl;
 		reading=m_rangeDeque.front();
 		m_rangeDeque.pop_front();
 		present=true;
@@ -213,7 +213,7 @@ void CarmenWrapper::robot_frontlaser_handler(carmen_robot_laser_message* frontla
 		m_rangeSensor=new RangeSensor("FLASER",frontlaser->num_readings, res, OrientedPoint(0,0,0), 0, 89.9);
 		m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": FrontLaser configured." 
 		     << " Readings " << m_rangeSensor->beams().size() 
 		     << " Resolution " << res << endl;
@@ -241,7 +241,7 @@ void CarmenWrapper::robot_rearlaser_handler(carmen_robot_laser_message* rearlase
 		m_rangeSensor=new RangeSensor("FLASER",frontlaser->num_readings, res, OrientedPoint(0,0,0), 0, 89.9);
 		m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": FrontLaser configured." 
 		     << " Readings " << m_rangeSensor->beams().size() 
 		     << " Resolution " << res << endl;
@@ -324,7 +324,7 @@ RangeReading CarmenWrapper::carmen2reading(const carmen_robot_laser_message& msg
 		m_frontLaser->updateBeamsLookup();
 		m_sensorMap.insert(make_pair(sensorName, m_frontLaser));
 
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": " << sensorName <<" configured." 
 		     << " Readings " << m_frontLaser->beams().size() 
 		     << " Resolution " << res << endl;
@@ -346,7 +346,7 @@ RangeReading CarmenWrapper::carmen2reading(const carmen_robot_laser_message& msg
 		m_rearLaser->updateBeamsLookup();
 		m_sensorMap.insert(make_pair(sensorName, m_rearLaser));
 
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": " << sensorName <<" configured." 
 		     << " Readings " << m_rearLaser->beams().size() 
 		     << " Resolution " << res << endl;

diff --git a/gfs-carmen/gfs-carmen.cpp b/gfs-carmen/gfs-carmen.cpp
@@ -26,7 +26,7 @@
 #include <gmapping/utils/orientedboundingbox.h>
 #include <gmapping/configfile/configfile.h>
 
-#define DEBUG cout << __PRETTY_FUNCTION__
+#define DEBUG cout << __func__
 
 /*
 Example file for interfacing carmen, and gfs.
@@ -227,10 +227,10 @@ int main(int argc, const char * const * argv){
 				cerr << "Best Particle is " << best_idx << " with weight " << best_weight << endl;
 				
 */				
-				cerr << __PRETTY_FUNCTION__  << "CLONING... " << endl;
+				cerr << __func__  << "CLONING... " << endl;
 				GridSlamProcessor* newProcessor=processor->clone();
 				cerr << "DONE" << endl;
-				cerr << __PRETTY_FUNCTION__  << "DELETING... " << endl;
+				cerr << __func__  << "DELETING... " << endl;
 				delete processor;
 				cerr << "DONE" << endl;
 				processor=newProcessor;

diff --git a/gridfastslam/gridslamprocessor.cpp b/gridfastslam/gridslamprocessor.cpp
@@ -71,7 +71,7 @@ using namespace std;
     m_obsSigmaGain=gsp.m_obsSigmaGain;
 
 #ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ <<  ": trajectories copy.... ";
+    cerr << __func__ <<  ": trajectories copy.... ";
 #endif
     TNodeVector v=gsp.getTrajectories();
     for (unsigned int i=0; i<v.size(); i++){
@@ -97,7 +97,7 @@ using namespace std;
 
   GridSlamProcessor* GridSlamProcessor::clone() const {
 # ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ << ": performing preclone_fit_test" << endl;
+    cerr << __func__ << ": performing preclone_fit_test" << endl;
     typedef std::map<autoptr< Array2D<PointAccumulator> >::reference* const, int> PointerMap;
     PointerMap pmap;
 	for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
@@ -116,17 +116,17 @@ using namespace std;
 	    }
 	  }
 	}
-	cerr << __PRETTY_FUNCTION__ <<  ": Number of allocated chunks" << pmap.size() << endl;
+	cerr << __func__ <<  ": Number of allocated chunks" << pmap.size() << endl;
 	for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++)
 	  assert(it->first->shares==(unsigned int)it->second);
 
-	cerr << __PRETTY_FUNCTION__ <<  ": SUCCESS, the error is somewhere else" << endl;
+	cerr << __func__ <<  ": SUCCESS, the error is somewhere else" << endl;
 # endif
 	GridSlamProcessor* cloned=new GridSlamProcessor(*this);
 
 # ifdef MAP_CONSISTENCY_CHECK
-	cerr << __PRETTY_FUNCTION__ <<  ": trajectories end" << endl;
-	cerr << __PRETTY_FUNCTION__ << ": performing afterclone_fit_test" << endl;
+	cerr << __func__ <<  ": trajectories end" << endl;
+	cerr << __func__ << ": performing afterclone_fit_test" << endl;
 	ParticleVector::const_iterator jt=cloned->m_particles.begin();
 	for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
 	  const ScanMatcherMap& m1(it->map);
@@ -143,14 +143,14 @@ using namespace std;
 	    }
 	  }
 	}
-	cerr << __PRETTY_FUNCTION__ <<  ": SUCCESS, the error is somewhere else" << endl;
+	cerr << __func__ <<  ": SUCCESS, the error is somewhere else" << endl;
 # endif
 	return cloned;
 }
 
   GridSlamProcessor::~GridSlamProcessor(){
-    cerr << __PRETTY_FUNCTION__ << ": Start" << endl;
-    cerr << __PRETTY_FUNCTION__ << ": Deleting tree" << endl;
+    cerr << __func__ << ": Start" << endl;
+    cerr << __func__ << ": Deleting tree" << endl;
     for (std::vector<Particle>::iterator it=m_particles.begin(); it!=m_particles.end(); it++){
 #ifdef TREE_CONSISTENCY_CHECK		
       TNode* node=it->node;
@@ -164,7 +164,7 @@ using namespace std;
     }
 
 # ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ << ": performing predestruction_fit_test" << endl;
+    cerr << __func__ << ": performing predestruction_fit_test" << endl;
     typedef std::map<autoptr< Array2D<PointAccumulator> >::reference* const, int> PointerMap;
     PointerMap pmap;
     for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
@@ -183,10 +183,10 @@ using namespace std;
 	}
       }
     }
-    cerr << __PRETTY_FUNCTION__ << ": Number of allocated chunks" << pmap.size() << endl;
+    cerr << __func__ << ": Number of allocated chunks" << pmap.size() << endl;
     for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++)
       assert(it->first->shares>=(unsigned int)it->second);
-    cerr << __PRETTY_FUNCTION__ << ": SUCCESS, the error is somewhere else" << endl;
+    cerr << __func__ << ": SUCCESS, the error is somewhere else" << endl;
 # endif
   }
 

diff --git a/gridfastslam/gridslamprocessor_tree.cpp b/gridfastslam/gridslamprocessor_tree.cpp
@@ -57,22 +57,22 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		assert(newnode->childs==0);
 		if (newnode->parent){
 			parentCache.insert(make_pair(newnode->parent, newnode));
-			//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
+			//cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
 			if (! newnode->parent->flag){
-				//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
+				//cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
 				newnode->parent->flag=true;
 				border.push_back(newnode->parent);
 			}
 		}
 	}
 
-	//cerr << __PRETTY_FUNCTION__ << ": border.size(INITIAL)=" << border.size() << endl;
-	//cerr << __PRETTY_FUNCTION__ << ": parentCache.size()=" << parentCache.size() << endl;
+	//cerr << __func__ << ": border.size(INITIAL)=" << border.size() << endl;
+	//cerr << __func__ << ": parentCache.size()=" << parentCache.size() << endl;
 	while (! border.empty()){
-		//cerr << __PRETTY_FUNCTION__ << ": border.size(PREPROCESS)=" << border.size() << endl;
-		//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl;
+		//cerr << __func__ << ": border.size(PREPROCESS)=" << border.size() << endl;
+		//cerr << __func__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl;
 		const TNode* node=border.front();
-		//cerr << __PRETTY_FUNCTION__ << ": node " << node << endl;
+		//cerr << __func__ << ": node " << node << endl;
 		border.pop_front();
 		if (! node)
 			continue;
@@ -91,7 +91,7 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		}
 		////cerr << endl;
 		parentCache.erase(p.first, p.second);
-		//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl;
+		//cerr << __func__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl;
 		assert(childs==newnode->childs);
 
 		//unmark the node
@@ -104,7 +104,7 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		}
 		//insert the parent in the cache
 	}
-	//cerr << __PRETTY_FUNCTION__ << " : checking cloned trajectories" << endl;
+	//cerr << __func__ << " : checking cloned trajectories" << endl;
 	for (unsigned int i=0; i<v.size(); i++){
 		TNode* node= v[i];
 		while (node){

diff --git a/gui/gfs_nogui.cpp b/gui/gfs_nogui.cpp
@@ -20,7 +20,9 @@
  *****************************************************************/
 
 
-#include <unistd.h>
+#ifndef _WIN32
+  #include <unistd.h>
+#endif
 #include "gmapping/gui/gsp_thread.h"
 
 using namespace GMapping;

diff --git a/gui/gsp_thread.cpp b/gui/gsp_thread.cpp
@@ -29,7 +29,7 @@
 	#include <gmapping/carmenwrapper/carmenwrapper.h>
 #endif
 
-#define DEBUG cout << __PRETTY_FUNCTION__
+#define DEBUG cout << __func__
 
 using namespace std;
 

diff --git a/gui/qparticleviewer.cpp b/gui/qparticleviewer.cpp
@@ -201,7 +201,7 @@ void QParticleViewer::drawMap(const ScanMatcherMap& map){
   Point wmax=Point(pic2map(IntPoint(m_pixmap->width()/2,-m_pixmap->height()/2)));
   IntPoint imin=map.world2map(wmin);
   IntPoint imax=map.world2map(wmax);
-  /*	cout << __PRETTY_FUNCTION__ << endl;
+  /*	cout << __func__ << endl;
 	cout << " viewCenter=" << viewCenter.x << "," << viewCenter.y <<   endl;	
 	cout << " wmin=" << wmin.x << "," << wmin.y <<  " wmax=" << wmax.x << "," << wmax.y << endl;	
 	cout << " imin=" << imin.x << "," << imin.y <<  " imax=" << imax.x << "," << imax.y << endl;

diff --git a/include/gmapping/configfile/configfile.h b/include/gmapping/configfile/configfile.h
@@ -26,10 +26,11 @@
 #include <iostream>
 #include <string>
 #include <map>
+#include <gmapping/configfile/configfile_export.h>
 
 namespace GMapping{
 
-class AutoVal {
+class CONFIGFILE_EXPORT AutoVal {
 public:
   AutoVal() {};
   explicit AutoVal(const std::string&);
@@ -62,7 +63,7 @@ class AutoVal {
   std::string m_value;
 };
 
-class ConfigFile {
+class CONFIGFILE_EXPORT ConfigFile {
   std::map<std::string,AutoVal> m_content;
 
 public:

diff --git a/include/gmapping/grid/array2d.h b/include/gmapping/grid/array2d.h
@@ -56,7 +56,7 @@ Array2D<Cell,debug>::Array2D(int xsize, int ysize){
 		m_cells=0;
 	}
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -79,7 +79,7 @@ Array2D<Cell,debug> & Array2D<Cell,debug>::operator=(const Array2D<Cell,debug> &
 			m_cells[x][y]=g.m_cells[x][y];
 
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -97,7 +97,7 @@ Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g){
 			m_cells[x][y]=g.m_cells[x][y];
 	}
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -106,7 +106,7 @@ Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g){
 template <class Cell, const bool debug>
 Array2D<Cell,debug>::~Array2D(){
   if (debug){
-  	std::cerr << __PRETTY_FUNCTION__ << std::endl;
+  	std::cerr << __func__ << std::endl;
 	std::cerr << "m_xsize= " << m_xsize<< std::endl;
 	std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }
@@ -121,7 +121,7 @@ Array2D<Cell,debug>::~Array2D(){
 template <class Cell, const bool debug>
 void Array2D<Cell,debug>::clear(){
   if (debug){
-  	std::cerr << __PRETTY_FUNCTION__ << std::endl;
+  	std::cerr << __func__ << std::endl;
 	std::cerr << "m_xsize= " << m_xsize<< std::endl;
 	std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }