CMakeLists.txt

############################################################
#              Cmake Build of Static Library               #
############################################################

# Project Setup
cmake_minimum_required(VERSION 3.22.0)
project(navigation_library)
set(CMAKE_CXX_STANDARD 11)

# Define Variables
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build)

# External Dependencies
find_package (Eigen3 3.3 REQUIRED NO_MODULE)
include_directories(${EIGEN3_INCLUDE_DIR})
include(FetchContent)
FetchContent_Declare(
  googletest
  GIT_REPOSITORY https://github.com/google/googletest.git
  GIT_TAG release-1.12.1
)
FetchContent_MakeAvailable(googletest)

# Add Header List
set(HEADER_LIST ${PROJECT_SOURCE_DIR}/include/filter/BatchLeastSquares.hpp
                ${PROJECT_SOURCE_DIR}/include/filter/KalmanFilter.hpp
                ${PROJECT_SOURCE_DIR}/include/inertial/compensator.hpp
		${PROJECT_SOURCE_DIR}/include/inertial/pvaErrorDynamics.hpp
                ${PROJECT_SOURCE_DIR}/include/inertial/initialization.hpp
                ${PROJECT_SOURCE_DIR}/include/inertial/strapdown.hpp
                ${PROJECT_SOURCE_DIR}/include/util/Gravity.hpp
                ${PROJECT_SOURCE_DIR}/include/util/NavUtils.hpp
		${PROJECT_SOURCE_DIR}/include/util/Attitude.hpp
		${PROJECT_SOURCE_DIR}/include/util/Rotations.hpp
		${PROJECT_SOURCE_DIR}/include/util/dataTypes.hpp)

# Add Library
add_library(navigation STATIC ${PROJECT_SOURCE_DIR}/src/filter/BatchLeastSquares.cpp
                              ${PROJECT_SOURCE_DIR}/src/filter/KalmanFilter.cpp
                              ${PROJECT_SOURCE_DIR}/src/inertial/compensator.cpp
			      ${PROJECT_SOURCE_DIR}/src/inertial/pvaErrorDynamics.cpp
                              ${PROJECT_SOURCE_DIR}/src/inertial/initialization.cpp
                              ${PROJECT_SOURCE_DIR}/src/inertial/strapdown.cpp
                              ${PROJECT_SOURCE_DIR}/src/util/Gravity.cpp
                              ${PROJECT_SOURCE_DIR}/src/util/NavUtils.cpp 
			      ${PROJECT_SOURCE_DIR}/src/util/Attitude.cpp
			      ${PROJECT_SOURCE_DIR}/src/util/Rotations.cpp ${HEADER_LIST})

# Target Include Directories
target_include_directories(navigation PUBLIC ${PROJECT_SOURCE_DIR}/include/filter
	                              PUBLIC ${PROJECT_SOURCE_DIR}/include/inertial
                                      PUBLIC ${PROJECT_SOURCE_DIR}/include/util
                                      PUBLIC ${EIGEN_INSTALL_PATH})

# Unit Testing Build
enable_testing()
add_executable( test_nav_fuse ${PROJECT_SOURCE_DIR}/test/testMain.cpp 
	                      ${PROJECT_SOURCE_DIR}/test/BatchLeastSquaresTest.cpp 
			      ${PROJECT_SOURCE_DIR}/test/KalmanFilterTest.cpp 
			      ${PROJECT_SOURCE_DIR}/test/CompensatorTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/InitializationTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/StrapdownTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/PvaErrorDynamicsTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/GravityTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/NavUtilsTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/AttitudeTest.cpp
			      ${PROJECT_SOURCE_DIR}/test/RotationsTest.cpp ${HEADER_LIST})
target_link_libraries(
  test_nav_fuse
  GTest::gtest_main
  navigation
)

# Target Include Directories
target_include_directories(test_nav_fuse PUBLIC ${PROJECT_SOURCE_DIR}/include/filter
                                         PUBLIC ${PROJECT_SOURCE_DIR}/include/inertial
                                         PUBLIC ${PROJECT_SOURCE_DIR}/include/util
                                         PUBLIC ${EIGEN_INSTALL_PATH})

include(GoogleTest)
gtest_discover_tests(test_nav_fuse)