Merge pull request #7 from traversaro/master

Fixes for compiling in Windows
ros · Oct 2, 2015 · fa15fc2 · fa15fc2
2 parents 54d70bf + cdf8ac9
commit fa15fc2
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Showing 3 changed files with 32 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,16 +21,22 @@ add_subdirectory(urdf_model_state)
 add_subdirectory(urdf_world)
 add_subdirectory(urdf_exception)
 
+if(WIN32 AND NOT CYGWIN)
+  set(CMAKE_CONFIG_INSTALL_DIR CMake)
+else()
+  set(CMAKE_CONFIG_INSTALL_DIR share/${PROJECT_NAME}/cmake/)
+endif()
+
 set(PACKAGE_NAME ${PROJECT_NAME})
-set(cmake_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}-config.cmake")
-configure_file("${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
-install(FILES "${CMAKE_BINARY_DIR}/${cmake_conf_file}" DESTINATION share/${PROJECT_NAME}/cmake/ COMPONENT cmake)
+set(cmake_conf_file "${PROJECT_NAME}-config.cmake")
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
+install(FILES "${CMAKE_BINARY_DIR}/${cmake_conf_file}" DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} COMPONENT cmake)
 
 # Make the package config file
 if (NOT MSVC)
   set(PACKAGE_DESC "Unified Robot Description Format")
-  set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/urdfdom_headers.pc")
-  configure_file("${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
+  set(pkg_conf_file "urdfdom_headers.pc")
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
   install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}" DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
 endif()
 

diff --git a/urdf_model/include/urdf_model/pose.h b/urdf_model/include/urdf_model/pose.h
@@ -37,10 +37,19 @@
 #ifndef URDF_INTERFACE_POSE_H
 #define URDF_INTERFACE_POSE_H
 
+//For using the M_PI macro in visual studio it 
+//is necessary to define _USE_MATH_DEFINES
+#ifdef _MSC_VER
+#ifndef _USE_MATH_DEFINES
+#define _USE_MATH_DEFINES
+#endif
+#endif
+
+#include <cmath>
 #include <string>
 #include <sstream>
 #include <vector>
-#include <cmath>
+
 #include <boost/algorithm/string.hpp>
 #include <boost/lexical_cast.hpp>
 #include <urdf_exception/exception.h>

diff --git a/urdf_model_state/include/urdf_model_state/model_state.h b/urdf_model_state/include/urdf_model_state/model_state.h
@@ -48,6 +48,17 @@
 
 namespace urdf{
 
+//round is not defined in C++98
+//So in Visual Studio <= 2012 is necessary to define it
+#ifdef _MSC_VER
+#if (_MSC_VER <= 1700)
+double round(double value)
+{
+    return (value >= 0.0f)?(floor(value + 0.5f)):(ceil(value - 0.5f));
+}
+#endif 
+#endif
+
 class Time
 {
 public: