cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# set(ROS_BUILD_TYPE Debug)

rosbuild_init()
rosbuild_add_boost_directories()
rosbuild_genmsg()

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

rosbuild_add_library(pose_graph src/pose_graph.cpp src/transforms.cpp
                                src/pose_graph_message.cpp
				src/geometry.cpp src/spa_conversion.cpp
                                src/constraint_generator.cpp
                                src/odom_constraint_generator.cpp 
                                src/fake_loop_closure.cpp
                                src/karto_laser_constraint_generator.cpp
                                src/scan_manager.cpp
                                src/sequential_scan_matcher.cpp
                                src/loop_scan_matcher.cpp
                                src/scan_match_localization.cpp)




rosbuild_add_executable(bin/graph_mapper src/graph_mapper.cpp)
target_link_libraries(bin/graph_mapper pose_graph)
target_link_libraries(bin/graph_mapper grid_utils)



rosbuild_add_gtest(bin/test_pose_graph test/test_pose_graph.cpp)
target_link_libraries(bin/test_pose_graph pose_graph)

rosbuild_add_gtest(bin/test_scan_match_constraints test/test_scan_match_constraints.cpp)
target_link_libraries(bin/test_scan_match_constraints pose_graph)
