chp2-pre-slam

chp2-pre-slam

Author : csl

E-Mail : 3079625093@qq.com

[TOC]

1. Project Structure

total 17 directories, 57 files

the file system of this project named 'preslam':

• .vscode contains the configure files for VSCode
• bin the binary output directory
  • preslam
• build the cmake binary directory for build
• include the include directory contains cpp head files
  • helloslam.h
• lib the lib output directory
  • libhelloslam.so
• src directory constains cpp source files
  • helloslam.cpp
• .gitignore the gitignore file
• CMakeLists.txt the cmake file
• main.cpp the main source file
• readme.md the readme file

2. Main Apis

1. CPP

• void hello_slam()

/**
 * @brief a no-return function to print "hello, slam!"
 */

2. CMake

• # Sets the minimum required version of cmake
  cmake_minimum_required(VERSION 3.10)

• # Set the name of the project
  project(preslam VERSION 0.0.1)

• # Add include directories to the build
  include_directories(${CMAKE_SOURCE_DIR}/include)

• # Add a library to the project using the 'helloslam.cpp'
  add_library(${LIB_NAME} SHARED ${CMAKE_SOURCE_DIR}/src/helloslam.cpp)

• # Add an executable to the project using the 'main.cpp'
  add_executable(${CMAKE_PROJECT_NAME} ${CMAKE_SOURCE_DIR}/main.cpp)

• # link the lib to the executable
  target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE  ${LIB_NAME})

3. Source Code

1. CPP

• helloslam.h

#pragma once

#include <iostream>

namespace ns_chp2 {
/**
 * @brief a no-return function to print "hello, slam!"
 */
void hello_slam();
}  // namespace ns_chp2

• helloslam.cpp

#include "helloslam.h"

namespace ns_chp2 {
void hello_slam() {
  // print "Hello, slam!"
  std::cout << "Hello, slam!" << std::endl;
  return;
}
}  // namespace ns_chp2

• main.cpp

#include "helloslam.h"

int main(int argc, char const *argv[]) {
  // call 'hello_slam'
  ns_chp2::hello_slam();
  return 0;
}

2. CMake

• CMakeLists.txt

# Sets the minimum required version of cmake
cmake_minimum_required(VERSION 3.10)

# Set the name of the project
project(preslam VERSION 0.0.1)

# Add include directories to the build
include_directories(${CMAKE_SOURCE_DIR}/include)

# Set a environment variable to the lib name
set(LIB_NAME helloslam)

# set the lib output directory
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)

# set the bin output directory
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)

# Add a library to the project using the 'helloslam.cpp'
add_library(${LIB_NAME} SHARED ${CMAKE_SOURCE_DIR}/src/helloslam.cpp)

# Add an executable to the project using the 'main.cpp'
add_executable(${CMAKE_PROJECT_NAME} ${CMAKE_SOURCE_DIR}/main.cpp)

# link the lib to the executable
target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE  ${LIB_NAME})