cmake_minimum_required(VERSION 2.8.3)
project(tf2_eigen)

find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  geometry_msgs
  tf2
)

# Finding Eigen is somewhat complicated because of our need to support Ubuntu
# all the way back to saucy.  First we look for the Eigen3 cmake module
# provided by the libeigen3-dev on newer Ubuntu.  If that fails, then we
# fall-back to the version provided by cmake_modules, which is a stand-in.
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
endif()

# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
if(NOT EIGEN3_INCLUDE_DIRS)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()

include_directories(include
                    ${EIGEN3_INCLUDE_DIRS}
                    ${catkin_INCLUDE_DIRS})

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS tf2
  DEPENDS EIGEN3)

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})


if(CATKIN_ENABLE_TESTING)

  catkin_add_gtest(tf2_eigen-test test/tf2_eigen-test.cpp)
  target_link_libraries(tf2_eigen-test ${catkin_LIBRARIES} ${GTEST_LIBRARIES})

endif()