Backport #761 to DART 4.3 as a single commit

# Conflicts: # CMakeLists.txt # cmake/FindFLANN.cmake # unittests/CMakeLists.txt
dartsim · Jan 6, 2018 · 08e3b58 · 08e3b58
1 parent 3e0b883
commit 08e3b58
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Showing 5 changed files with 39 additions and 14 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -136,9 +136,15 @@ if(NOT BUILD_CORE_ONLY)
   # FLANN
   find_package(FLANN QUIET)
   if(FLANN_FOUND)
-    message(STATUS "Looking for FLANN - found")
+    message(STATUS "Looking for FLANN - ${FLANN_VERSION} found")
+    set(HAVE_FLANN TRUE)
   else()
-    message(SEND_ERROR "Looking for FLANN - NOT found, please install libflann-dev")
+    if(FLANN_VERSION)
+      message(SEND_ERROR "Looking for FLANN - ${FLANN_VERSION} found, ${PROJECT_NAME} requires 1.8.4 or greater.")
+    else()
+      message(SEND_ERROR "Looking for FLANN - NOT found, please install libflann-dev")
+    endif()
+    set(HAVE_FLANN FALSE)
   endif()
 
   # TinyXML
@@ -269,9 +275,8 @@ if(HAVE_BULLET_COLLISION)
 endif()
 
 if(NOT BUILD_CORE_ONLY)
-    message(STATUS "FLANN_LIBRARIES: ${FLANN_LIBRARIES}")
-  set(DART_DEPENDENCIES ${FLANN_LIBRARIES}
-                        ${urdfdom_LIBRARIES}
+  set(DART_DEPENDENCIES ${urdfdom_LIBRARIES}
+                        ${FLANN_LIBRARIES}
                         ${TinyXML_LIBRARIES}
                         ${TinyXML2_LIBRARIES}
   )

diff --git a/cmake/FindFLANN.cmake b/cmake/FindFLANN.cmake
@@ -1,20 +1,35 @@
+# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# This file is provided under the "BSD-style" License
+
 # Find FLANN
 #
 # This sets the following variables:
 # FLANN_FOUND
 # FLANN_INCLUDE_DIRS
+# FLANN_LIBRARIES
+# FLANN_VERSION
 
 find_package(PkgConfig QUIET)
 
-pkg_check_modules(PC_FLANN flann)
-find_path(FLANN_INCLUDE_DIR
+# Check to see if pkgconfig is installed.
+pkg_check_modules(PC_FLANN flann QUIET)
+
+# Include directories
+find_path(FLANN_INCLUDE_DIRS
     NAMES flann/flann.h
     HINTS ${PC_FLANN_INCLUDEDIR}
     PATHS "${CMAKE_INSTALL_PREFIX}/include")
 
-set(FLANN_INCLUDE_DIRS ${FLANN_INCLUDE_DIR})
+# Libraries
+find_library(FLANN_LIBRARIES flann_cpp
+    HINTS ${PC_FLANN_LIBDIR})
 
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(FLANN DEFAULT_MSG FLANN_INCLUDE_DIR)
+# Version
+set(FLANN_VERSION ${PC_FLANN_VERSION})
 
-mark_as_advanced(FLANN_INCLUDE_DIR)
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(FLANN
+    FAIL_MESSAGE  DEFAULT_MSG
+    REQUIRED_VARS FLANN_INCLUDE_DIRS FLANN_LIBRARIES
+    VERSION_VAR   FLANN_VERSION)
diff --git a/dart/config.h.in b/dart/config.h.in
@@ -21,6 +21,7 @@
 #cmakedefine HAVE_IPOPT 1
 #cmakedefine HAVE_SNOPT 1
 #cmakedefine HAVE_BULLET_COLLISION 1
+#cmakedefine HAVE_FLANN 1
 
 #define DART_ROOT_PATH "@CMAKE_SOURCE_DIR@/"
 #define DART_DATA_PATH "@CMAKE_SOURCE_DIR@/data/"

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
@@ -5,7 +5,7 @@
 # Author(s): Can Erdogan <cerdogan3@gatech.edu>,
 #            Jeongseok Lee <jslee02@gmail.com>
 #
-# Geoorgia Tech Graphics Lab and Humanoid Robotics Lab
+# Georgia Tech Graphics Lab and Humanoid Robotics Lab
 #
 # Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 # <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
@@ -82,4 +82,3 @@ foreach(test ${tests})
   endif(NOT contains)
 
 endforeach(test)
-
diff --git a/unittests/testNearestNeighbor.cpp b/unittests/testNearestNeighbor.cpp
@@ -7,11 +7,15 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include <flann/flann.hpp>
 #include <Eigen/Core>
+#include <dart/dart.h>
+#if HAVE_FLANN
+#include <flann/flann.hpp>
+#endif // HAVE_FLANN
 #include "TestHelpers.h"
 
 /* ********************************************************************************************* */
+#if HAVE_FLANN
 TEST(NEAREST_NEIGHBOR, 2D) {
 
     // Build the index with the first node
@@ -44,6 +48,7 @@ TEST(NEAREST_NEIGHBOR, 2D) {
     bool equality = equals(Vector2d(point[0], point[1]), p3, 1e-3);
     EXPECT_TRUE(equality);
 }
+#endif // HAVE_FLANN
 
 /* ********************************************************************************************* */
 int main(int argc, char* argv[]) {