# Catkin User Guide: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html
# Catkin CMake Standard: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html
cmake_minimum_required(VERSION 2.8.3)
project(mrpt_ekf_slam_3d)
#c++ 11 standard
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
IF($ENV{VERBOSE})
	MESSAGE("CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
endif()

#find catkin packages
find_package(catkin REQUIRED COMPONENTS roslib roscpp tf std_msgs nav_msgs sensor_msgs visualization_msgs mrpt_bridge dynamic_reconfigure)

#find mrpt packages
find_package(MRPT REQUIRED base gui obs slam)

if (MRPT_VERSION VERSION_LESS 2.0.0)
	set(CMAKE_CXX_FLAGS "-Wno-deprecated-declarations ${CMAKE_CXX_FLAGS}")
endif()

#Include directories
INCLUDE_DIRECTORIES(
   ${CMAKE_SOURCE_DIR}/src
   ${CMAKE_CURRENT_BINARY_DIR}
)

catkin_package(
    CATKIN_DEPENDS
#    DEPENDS Eigen 
#    INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS}
    )

###########
## Build ##
###########

include_directories(
  ${catkin_INCLUDE_DIRS}
#  ${Eigen_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
  include
)


IF(${MRPT_VERSION} LESS 1.5.0)
  MESSAGE(WARNING "Target mrpt_ekf_slam_3d will not be built. It requires MRPT version 1.5.0 or higher, but you have ${MRPT_VERSION}.")
else()

add_executable(mrpt_ekf_slam_3d
    src/mrpt_ekf_slam_3d.cpp
    src/mrpt_ekf_slam_3d_wrapper.cpp
    src/mrpt_ekf_slam_3d_app.cpp
)

TARGET_LINK_LIBRARIES(mrpt_ekf_slam_3d ${MRPT_LIBS}
    ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# Mark executables and/or libraries for installation
install(TARGETS mrpt_ekf_slam_3d
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
  launch
  tutorial
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

endif()
