use the new bullet and eigen conventions

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@38342 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

Author: vrabaud

CMakeLists.txt

@@ -1,10 +1,14 @@
 cmake_minimum_required(VERSION 2.4.6)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rosbuild_init()
 rosbuild_gensrv()
 
 rosbuild_add_boost_directories()
 
+find_package(Eigen REQUIRED)
+include_directories(${EIGEN_INCLUDE_DIRS})
+
 rosbuild_add_executable(laser_scan_assembler_srv src/laser_scan_assembler_srv.cpp)
 rosbuild_link_boost(laser_scan_assembler_srv system)
 rosbuild_add_executable(point_cloud_assembler_srv src/point_cloud_assembler_srv.cpp)

cmake/FindEigen.cmake

@@ -0,0 +1,82 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN_FOUND - system has eigen lib with correct version
+#  EIGEN_INCLUDE_DIR - the eigen include directory
+#  EIGEN_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Copyright (c) 2009 Benoit Jacob <[email protected]>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen_FIND_VERSION)
+  if(NOT Eigen_FIND_VERSION_MAJOR)
+    set(Eigen_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen_FIND_VERSION_MAJOR)
+  if(NOT Eigen_FIND_VERSION_MINOR)
+    set(Eigen_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen_FIND_VERSION_MINOR)
+  if(NOT Eigen_FIND_VERSION_PATCH)
+    set(Eigen_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen_FIND_VERSION_PATCH)
+
+  set(Eigen_FIND_VERSION "${Eigen_FIND_VERSION_MAJOR}.${Eigen_FIND_VERSION_MINOR}.${Eigen_FIND_VERSION_PATCH}")
+endif(NOT Eigen_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN_VERSION ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
+  if(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
+    set(EIGEN_VERSION_OK FALSE)
+  else(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
+    set(EIGEN_VERSION_OK TRUE)
+  endif(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
+
+  if(NOT EIGEN_VERSION_OK)
+
+    message(STATUS "Eigen version ${EIGEN_VERSION} found in ${EIGEN_INCLUDE_DIR}, "
+                   "but at least version ${Eigen_FIND_VERSION} is required")
+  endif(NOT EIGEN_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN_INCLUDE_DIRS)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN_FOUND ${EIGEN_VERSION_OK})
+
+else ()
+
+  find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)
+
+  mark_as_advanced(EIGEN_INCLUDE_DIR)
+  SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR} CACHE PATH "The Eigen include path.")
+
+endif()
+

test/dummy_scan_producer.cpp

@@ -52,7 +52,7 @@ void runLoop()
 
   // Configure the Transform broadcaster
   tf::TransformBroadcaster broadcaster;
-  tf::Transform laser_transform(btQuaternion(0,0,0,1));
+  tf::Transform laser_transform(tf::Quaternion(0,0,0,1));
 
   // Populate the dummy laser scan
   sensor_msgs::LaserScan scan;