fixup

tesseract/tesseract/CMakeLists.txt

@@ -23,11 +23,9 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-include(GenerateExportHeader)
-
 # Create target
 add_library(${PROJECT_NAME} src/tesseract.cpp src/manipulator_manager.cpp)
-target_generate_export_header(${PROJECT_NAME})
+target_process_export(${PROJECT_NAME})
 target_link_libraries(${PROJECT_NAME} PUBLIC
   tesseract::tesseract_urdf
   tesseract::tesseract_scene_graph
@@ -44,20 +42,14 @@ target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE
 target_cxx_version(${PROJECT_NAME} PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME} ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
 target_include_directories(${PROJECT_NAME} PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include;${CMAKE_CURRENT_BINARY_DIR}>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
     ${Boost_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
-    $<TARGET_PROPERTY:tesseract::tesseract_common,INTERFACE_INCLUDE_DIRECTORIES>) #tesseract::tesseract_common Due to bug in catkin, there is an open PR
+    ${EIGEN3_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
 
-install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/${PROJECT_NAME}_export.h
-  DESTINATION include/${PROJECT_NAME}
-)
-
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}
   DESTINATION include

tesseract/tesseract/include/tesseract/manipulator_manager.h

@@ -37,11 +37,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/core/environment.h>
 #include <tesseract_kinematics/core/forward_kinematics_factory.h>
 #include <tesseract_kinematics/core/inverse_kinematics_factory.h>
-#include <tesseract/tesseract_export.h>
+#include <tesseract/visibility_control.h>
 
 namespace tesseract
 {
-class TESSERACT_EXPORT ManipulatorManager
+class TESSERACT_PUBLIC ManipulatorManager
 {
 public:
   using Ptr = std::shared_ptr<ManipulatorManager>;

tesseract/tesseract/include/tesseract/tesseract.h

@@ -42,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_scene_graph/resource_locator.h>
 #include <tesseract/manipulator_manager.h>
 #include <tesseract_command_language/manipulator_info.h>
-#include <tesseract/tesseract_export.h>
+#include <tesseract/visibility_control.h>
 
 namespace tesseract
 {
@@ -60,7 +60,7 @@ using FindTCPCallbackFn = std::function<Eigen::Isometry3d(const tesseract_planni
  * It also provides several construction methods for loading from urdf, srdf
  *
  */
-class TESSERACT_EXPORT Tesseract
+class TESSERACT_PUBLIC Tesseract
 {
 public:
   using Ptr = std::shared_ptr<Tesseract>;

tesseract/tesseract/include/tesseract/tesseract_init_info.h

@@ -36,7 +36,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_scene_graph/resource_locator.h>
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_scene_graph/srdf_model.h>
-#include <tesseract/tesseract_export.h>
+#include <tesseract/visibility_control.h>
 
 namespace tesseract
 {
@@ -57,7 +57,7 @@ enum class TesseractInitType
 Note: Recreating a Tesseract does not guarantee that it is identical to the Tesseract associate with this construction
 info since the kinmeatics managers could have changed and it does not include the environment command history. This will
 simply recreate the Tesseract as it was at construction.  */
-struct TESSERACT_EXPORT TesseractInitInfo
+struct TESSERACT_PUBLIC TesseractInitInfo
 {
   using Ptr = std::shared_ptr<TesseractInitInfo>;
   using ConstPtr = std::shared_ptr<const TesseractInitInfo>;

tesseract/tesseract/include/tesseract/visibility_control.h

@@ -0,0 +1,61 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all descartes headers which declare symbols
+ * which are defined in the descartes library. When not building the descartes
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the descartes
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+#ifndef TESSERACT_VISIBILITY_CONTROL_H
+#define TESSERACT_VISIBILITY_CONTROL_H
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define TESSERACT_EXPORT __attribute__ ((dllexport))
+    #define TESSERACT_IMPORT __attribute__ ((dllimport))
+  #else
+    #define TESSERACT_EXPORT __declspec(dllexport)
+    #define TESSERACT_IMPORT __declspec(dllimport)
+  #endif
+  #ifndef TESSERACT_STATIC_LIBRARY
+    #ifdef TESSERACT_LIBRARY_SHARED
+      #define TESSERACT_PUBLIC TESSERACT_EXPORT
+    #else
+      #define TESSERACT_PUBLIC TESSERACT_IMPORT
+    #endif
+  #else
+    #define TESSERACT_PUBLIC
+  #endif
+  #define TESSERACT_PUBLIC_TYPE TESSERACT_PUBLIC
+  #define TESSERACT_LOCAL
+#else
+  #define TESSERACT_EXPORT __attribute__ ((visibility("default")))
+  #define TESSERACT_IMPORT
+  #if __GNUC__ >= 4
+    #define TESSERACT_PUBLIC __attribute__ ((visibility("default")))
+    #define TESSERACT_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define TESSERACT_PUBLIC
+    #define TESSERACT_LOCAL
+  #endif
+  #define TESSERACT_PUBLIC_TYPE
+#endif
+// clang-format on
+
+#endif  // TESSERACT_VISIBILITY_CONTROL_H

tesseract/tesseract_collision/CMakeLists.txt

@@ -40,10 +40,9 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-include(GenerateExportHeader)
-
 # Create interface for core
 add_library(${PROJECT_NAME}_core INTERFACE)
+target_process_export(${PROJECT_NAME}_core INTERFACE)
 target_link_libraries(${PROJECT_NAME}_core INTERFACE tesseract::tesseract_common tesseract::tesseract_geometry PkgConfig::bullet ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_OPTIONS})
 target_compile_definitions(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
@@ -70,15 +69,15 @@ add_library(${PROJECT_NAME}_bullet
   src/bullet/tesseract_convex_convex_algorithm.cpp
   src/bullet/tesseract_gjk_pair_detector.cpp
 )
-target_generate_export_header(${PROJECT_NAME}_bullet)
+target_process_export(${PROJECT_NAME}_bullet)
 target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry PkgConfig::bullet console_bridge octomap octomath)
 target_compile_options(${PROJECT_NAME}_bullet PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_compile_definitions(${PROJECT_NAME}_bullet PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_bullet ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_bullet PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_bullet ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
 target_include_directories(${PROJECT_NAME}_bullet PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include;${CMAKE_CURRENT_BINARY_DIR}>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_bullet SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIRS}
@@ -89,15 +88,15 @@ add_library(${PROJECT_NAME}_fcl
   src/fcl/fcl_discrete_managers.cpp
   src/fcl/fcl_utils.cpp
   src/fcl/fcl_collision_object_wrapper.cpp)
-target_generate_export_header(${PROJECT_NAME}_fcl)
+target_process_export(${PROJECT_NAME}_fcl)
 target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry PkgConfig::bullet console_bridge octomap octomath fcl)
 target_compile_options(${PROJECT_NAME}_fcl PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_compile_definitions(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_fcl ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_fcl PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_fcl ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
 target_include_directories(${PROJECT_NAME}_fcl PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include;${CMAKE_CURRENT_BINARY_DIR}>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_fcl SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIRS}
@@ -145,14 +144,6 @@ target_include_directories(${PROJECT_NAME}_test_suite_benchmarks SYSTEM INTERFAC
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME}_core ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_test_suite_benchmarks create_convex_hull)
 
-# Install export headers
-install(
-  FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/${PROJECT_NAME}_fcl_export.h
-    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/${PROJECT_NAME}_bullet_export.h
-  DESTINATION include/${PROJECT_NAME}
-)
-
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}
   DESTINATION include

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_bvh_manager.h

@@ -44,14 +44,14 @@
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
-#include <tesseract_collision/tesseract_collision_bullet_export.h>
+#include <tesseract_collision/bullet/visibility_control.h>
 
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
 {
 /** @brief A BVH implementaiton of a tesseract contact manager */
-class TESSERACT_COLLISION_BULLET_EXPORT BulletCastBVHManager : public ContinuousContactManager
+class TESSERACT_COLLISION_BULLET_PUBLIC BulletCastBVHManager : public ContinuousContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletCastBVHManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_simple_manager.h

@@ -44,14 +44,14 @@
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
-#include <tesseract_collision/tesseract_collision_bullet_export.h>
+#include <tesseract_collision/bullet/visibility_control.h>
 
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
 {
 /** @brief A simple implementaiton of a tesseract manager which does not use BHV */
-class TESSERACT_COLLISION_BULLET_EXPORT BulletCastSimpleManager : public ContinuousContactManager
+class TESSERACT_COLLISION_BULLET_PUBLIC BulletCastSimpleManager : public ContinuousContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletCastSimpleManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_bvh_manager.h

@@ -44,14 +44,14 @@
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
-#include <tesseract_collision/tesseract_collision_bullet_export.h>
+#include <tesseract_collision/bullet/visibility_control.h>
 
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
 {
 /** @brief A BVH implementaiton of a bullet manager */
-class TESSERACT_COLLISION_BULLET_EXPORT BulletDiscreteBVHManager : public DiscreteContactManager
+class TESSERACT_COLLISION_BULLET_PUBLIC BulletDiscreteBVHManager : public DiscreteContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletDiscreteBVHManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h

@@ -44,14 +44,14 @@
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
-#include <tesseract_collision/tesseract_collision_bullet_export.h>
+#include <tesseract_collision/bullet/visibility_control.h>
 
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
 {
 /** @brief A simple implementaiton of a bullet manager which does not use BHV */
-class TESSERACT_COLLISION_BULLET_EXPORT BulletDiscreteSimpleManager : public DiscreteContactManager
+class TESSERACT_COLLISION_BULLET_PUBLIC BulletDiscreteSimpleManager : public DiscreteContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletDiscreteSimpleManager>;