Fix export of optional parts in base/types

Author: 2maz

CMakeLists.txt

@@ -22,6 +22,11 @@ if (SISL_FOUND)
     include_directories(${SISL_INCLUDE_DIRS})
     list(APPEND TOOLKIT_ADDITIONAL_SOURCES ${CMAKE_SOURCE_DIR}/src/spline.cpp)
     list(APPEND TOOLKIT_ADDITIONAL_LIBRARIES ${BASELIB_LIBRARIES} ${SISL_LIBRARIES})
+    add_definitions("-DWITH_SISL=1")
+    list(APPEND PKG_CFLAGS "-DWITH_SISL=1")
+else()
+    add_definitions("-DWITH_SISL=0")
+    list(APPEND PKG_CFLAGS "-DWITH_SISL=0")
 endif()
 
 INCLUDE(baseBase)

base.orogen

@@ -7,7 +7,6 @@ using_library 'base-types'
 import_types_from "base/Temperature.hpp"
 import_types_from "base/Pressure.hpp"
 import_types_from "base/Time.hpp"
-import_types_from "base/Trajectory.hpp"
 import_types_from "base/commands/LinearAngular6DCommand.hpp"
 import_types_from "base/commands/Motion2D.hpp"
 import_types_from "base/commands/Speed6D.hpp"
@@ -34,6 +33,7 @@ if has_library?('base-lib')
     using_library 'base-lib'
     # Opaque wrappers for Spline types
     import_types_from 'base/wrappers/geometry/Spline.hpp'
+    import_types_from "base/Trajectory.hpp"
 end
 
 # Opaque wrappers for Eigen types
@@ -74,6 +74,7 @@ max_sizes '/base/samples/RigidBodyState', 'sourceFrame' => 32, 'targetFrame' =>
 
 # Explicitely intanciate ro_ptr wrappers for Frame and FramePair as it is the
 # standard way to push this kind of types on ports
+has_base_lib = has_library?('base-lib')
 typekit do
     roptr_frame_t     = ro_ptr('/base/samples/frame/Frame')
     roptr_framepair_t = ro_ptr('/base/samples/frame/FramePair')
@@ -106,8 +107,6 @@ typekit do
         '/base/JointTransformVector',
         '/base/JointsTrajectory',
         '/base/LinearAngular6DCommand',
-        '/base/Trajectory',
-        '/std/vector</base/Trajectory>',
         '/base/samples/Joints',
         '/base/samples/Pointcloud',
         '/base/samples/DistanceImage',
@@ -129,8 +128,6 @@ typekit do
         '/base/samples/Wrenches',
         '/base/samples/Motion2D',
         '/base/samples/DepthMap',
-        '/base/geometry/Spline<1>',
-        '/base/geometry/Spline<3>',
         '/base/Time',
         '/base/Position',
         '/std/vector</base/Vector3d>',
@@ -157,6 +154,13 @@ typekit do
         '/base/samples/Pressure',
         '/std/vector</std/string>'
 
+    if has_base_lib
+        export_types '/base/Trajectory',
+            '/std/vector</base/Trajectory>',
+            '/base/geometry/Spline<1>',
+            '/base/geometry/Spline<3>'
+    end
+
     ros_mappings \
         '/std/string' => 'std_msgs/String',
         '/base/Time' => 'std_msgs/Time',

test/CMakeLists.txt

@@ -1,4 +1,4 @@
-pkg_check_modules(BASE REQUIRED "base-lib")
+pkg_check_modules(BASE REQUIRED "base-types")
 include_directories(${BASE_INCLUDE_DIRS})
 link_directories(${BASE_LIBRARY_DIRS})
 

typekit/Opaques.cpp

@@ -7,6 +7,7 @@
  * Opaques.hpp
  */
 
+#if WITH_SISL
 void orogen_typekits::toIntermediate(::wrappers::geometry::Spline& intermediate, ::base::geometry::SplineBase const& real_type)
 {
     intermediate = wrappers::geometry::Spline(real_type);
@@ -19,6 +20,7 @@ void orogen_typekits::fromIntermediate(::base::geometry::SplineBase& real_type,
         result.reset(intermediate.vertices, intermediate.knots, intermediate.kind);
     real_type = result;
 }
+#endif // WITH_SISL
 
 
 void orogen_typekits::toIntermediate(::wrappers::Matrix<double, 4, 4>& intermediate, ::base::Affine3d const& real)

typekit/Opaques.hpp

@@ -18,7 +18,7 @@ namespace orogen_typekits
         for(int i=0; i < ROWS*COLS; ++i)
             real(i / COLS, i % COLS) = intermediate.data[i];
     }
-    
+
 
     template<typename T, int ROWS, int COLS, int EIGEN_OPTIONS, int EIGEN_MAX_ROWS, int EIGEN_MAX_COLS>
     void toIntermediate(::wrappers::MatrixX<T>& intermediate, Eigen::Matrix<T, ROWS, COLS, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS> const& real)
@@ -28,7 +28,7 @@ namespace orogen_typekits
         intermediate.cols = real.cols();
 
         typedef Eigen::Matrix<T,ROWS,COLS,EIGEN_OPTIONS,EIGEN_MAX_ROWS,EIGEN_MAX_COLS> EigenMatrix;
-        
+
         Eigen::Map<EigenMatrix> m(&(intermediate.data[0]),real.rows(), real.cols());
         m = real;
     }
@@ -37,7 +37,7 @@ namespace orogen_typekits
     void fromIntermediate(Eigen::Matrix<T, ROWS, COLS, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS>& real, ::wrappers::MatrixX<T> const& intermediate)
     {
         typedef const Eigen::Matrix<T,ROWS,COLS,EIGEN_OPTIONS,EIGEN_MAX_ROWS,EIGEN_MAX_COLS> EigenMatrix;
-        
+
         if (static_cast<int>(intermediate.data.size()) != intermediate.rows * intermediate.cols)
             throw std::logic_error("vector size does not match rows and cols in /wrappers/MatrixX");
 
@@ -55,17 +55,17 @@ namespace orogen_typekits
     template<typename T, int EIGEN_OPTIONS, int EIGEN_MAX_ROWS, int EIGEN_MAX_COLS>
     void fromIntermediate(Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS>& real, wrappers::MatrixX<T> const& intermediate)
     {
-        fromIntermediate<T, Eigen::Dynamic, Eigen::Dynamic, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS>(real, intermediate); 
+        fromIntermediate<T, Eigen::Dynamic, Eigen::Dynamic, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS>(real, intermediate);
     }
 
-    
+
     template<typename T, int EIGEN_OPTIONS, int EIGEN_MAX_ROWS, int EIGEN_MAX_COLS>
     void toIntermediate(wrappers::VectorX<T>& intermediate, Eigen::Matrix<T, Eigen::Dynamic, 1, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS> const& real)
     {
         typedef Eigen::Matrix<T,Eigen::Dynamic,1,EIGEN_OPTIONS,EIGEN_MAX_ROWS,EIGEN_MAX_COLS> EigenVector;
-        
+
         intermediate.data.resize(real.size(),0.0);
-        
+
         Eigen::Map<EigenVector> m(&(intermediate.data[0]),real.size());
         m = real;
     }
@@ -74,7 +74,7 @@ namespace orogen_typekits
     void fromIntermediate(Eigen::Matrix<T, Eigen::Dynamic, 1, EIGEN_OPTIONS, EIGEN_MAX_ROWS, EIGEN_MAX_COLS>& real, wrappers::VectorX<T> const& intermediate)
     {
         typedef const Eigen::Matrix<T,Eigen::Dynamic,1,EIGEN_OPTIONS,EIGEN_MAX_ROWS,EIGEN_MAX_COLS> EigenVector;
-        
+
         Eigen::Map<EigenVector> m(&(intermediate.data[0]),intermediate.data.size());
         real = m;
     }
@@ -116,9 +116,11 @@ namespace orogen_typekits
         real.axis()[2] = intermediate.axis[2];
     }
 
+#if WITH_SISL
     void toIntermediate(::wrappers::geometry::Spline& intermediate, ::base::geometry::SplineBase const& real_type);
 
     void fromIntermediate(::base::geometry::SplineBase& real_type, ::wrappers::geometry::Spline const& intermediate);
+#endif // WITH_SISL
 
 
     void toIntermediate(::wrappers::Matrix<double, 4, 4>& intermediate, ::base::Affine3d const& real);