moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

.project

@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>rtabmap</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value>-C ${ProjDirPath}/build VERBOSE=true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildLocation</key>
+					<value>${workspace_loc:/RTAB-Map}</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>false</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

3rdParty/include/cppunit/AdditionalMessage.h

@@ -0,0 +1,76 @@
+#ifndef CPPUNIT_ADDITIONALMESSAGE_H
+#define CPPUNIT_ADDITIONALMESSAGE_H
+
+#include <cppunit/Message.h>
+
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief An additional Message for assertions.
+ * \ingroup CreatingNewAssertions
+ *
+ * Provides a implicit constructor that takes a single string. This allow this
+ * class to be used as the message arguments in macros.
+ *
+ * The constructed object is either a Message with a single detail string if
+ * a string was passed to the macro, or a copy of the Message passed to the macro.
+ *
+ * Here is an example of usage:
+ * \code
+ * 
+ *   void checkStringEquals( const std::string &expected,
+ *                          const std::string &actual,
+ *                           const CppUnit::SourceLine &sourceLine,
+ *                           const CppUnit::AdditionalMessage &message );
+ *  
+ *   #define XTLUT_ASSERT_STRING_EQUAL_MESSAGE( expected, actual, message )  \
+ *     ::XtlUt::Impl::checkStringEquals( ::Xtl::toString(expected),        \
+ *                                       ::Xtl::toString(actual),          \
+ *                                       CPPUNIT_SOURCELINE(),             \
+ *                                       message )
+ * \endcode
+ *
+ * In the previous example, the user can specify a simple string for \a message,
+ * or a complex Message object.
+ *
+ * \see Message
+ */
+class CPPUNIT_API AdditionalMessage : public Message
+{
+public:
+  typedef Message SuperClass;
+
+  /// Constructs an empty Message.
+  AdditionalMessage();
+
+  /*! \brief Constructs a Message with the specified detail string.
+   * \param detail1 Detail string of the message. If empty, then it is not added.
+   */
+  AdditionalMessage( const std::string &detail1 );
+
+  /*! \brief Constructs a Message with the specified detail string.
+   * \param detail1 Detail string of the message. If empty, then it is not added.
+   */
+  AdditionalMessage( const char *detail1 );
+
+  /*! \brief Constructs a copy of the specified message.
+   * \param other Message to copy.
+   */
+  AdditionalMessage( const Message &other );
+
+  /*! \brief Assignment operator.
+   * \param other Message to copy.
+   * \return Reference on this object.
+   */
+  AdditionalMessage &operator =( const Message &other );
+
+private:
+};
+
+
+CPPUNIT_NS_END
+
+
+
+#endif  // CPPUNIT_ADDITIONALMESSAGE_H

3rdParty/include/cppunit/Asserter.h

@@ -0,0 +1,143 @@
+#ifndef CPPUNIT_ASSERTER_H
+#define CPPUNIT_ASSERTER_H
+
+#include <cppunit/AdditionalMessage.h>
+#include <cppunit/SourceLine.h>
+#include <string>
+
+CPPUNIT_NS_BEGIN
+
+
+class Message;
+
+
+/*! \brief A set of functions to help writing assertion macros.
+ * \ingroup CreatingNewAssertions
+ *
+ * Here is an example of assertion, a simplified version of the
+ * actual assertion implemented in examples/cppunittest/XmlUniformiser.h:
+ * \code
+ * #include <cppunit/SourceLine.h>
+ * #include <cppunit/TestAssert.h>
+ * 
+ * void 
+ * checkXmlEqual( std::string expectedXml,
+ *                std::string actualXml,
+ *                CppUnit::SourceLine sourceLine )
+ * {
+ *   std::string expected = XmlUniformiser( expectedXml ).stripped();
+ *   std::string actual = XmlUniformiser( actualXml ).stripped();
+ * 
+ *   if ( expected == actual )
+ *     return;
+ * 
+ *   ::CppUnit::Asserter::failNotEqual( expected,
+ *                                      actual,
+ *                                      sourceLine );
+ * }
+ * 
+ * /// Asserts that two XML strings are equivalent.
+ * #define CPPUNITTEST_ASSERT_XML_EQUAL( expected, actual ) \
+ *     checkXmlEqual( expected, actual,                     \
+ *                    CPPUNIT_SOURCELINE() )
+ * \endcode
+ */
+struct Asserter
+{
+  /*! \brief Throws a Exception with the specified message and location.
+   */
+  static void CPPUNIT_API fail( const Message &message, 
+                                const SourceLine &sourceLine = SourceLine() );
+
+  /*! \brief Throws a Exception with the specified message and location.
+   * \deprecated Use fail( Message, SourceLine ) instead.
+   */
+  static void CPPUNIT_API fail( std::string message, 
+                                const SourceLine &sourceLine = SourceLine() );
+
+  /*! \brief Throws a Exception with the specified message and location.
+   * \param shouldFail if \c true then the exception is thrown. Otherwise
+   *                   nothing happen.
+   * \param message Message explaining the assertion failiure.
+   * \param sourceLine Location of the assertion.
+   */
+  static void CPPUNIT_API failIf( bool shouldFail, 
+                                  const Message &message, 
+                                  const SourceLine &sourceLine = SourceLine() );
+
+  /*! \brief Throws a Exception with the specified message and location.
+   * \deprecated Use failIf( bool, Message, SourceLine ) instead.
+   * \param shouldFail if \c true then the exception is thrown. Otherwise
+   *                   nothing happen.
+   * \param message Message explaining the assertion failiure.
+   * \param sourceLine Location of the assertion.
+   */
+  static void CPPUNIT_API failIf( bool shouldFail, 
+                                  std::string message, 
+                                  const SourceLine &sourceLine = SourceLine() );
+
+  /*! \brief Returns a expected value string for a message.
+   * Typically used to create 'not equal' message, or to check that a message
+   * contains the expected content when writing unit tests for your custom 
+   * assertions.
+   *
+   * \param expectedValue String that represents the expected value.
+   * \return \a expectedValue prefixed with "Expected: ".
+   * \see makeActual().
+   */
+  static std::string CPPUNIT_API makeExpected( const std::string &expectedValue );
+
+  /*! \brief Returns an actual value string for a message.
+   * Typically used to create 'not equal' message, or to check that a message
+   * contains the expected content when writing unit tests for your custom 
+   * assertions.
+   *
+   * \param actualValue String that represents the actual value.
+   * \return \a actualValue prefixed with "Actual  : ".
+   * \see makeExpected().
+   */
+  static std::string CPPUNIT_API makeActual( const std::string &actualValue );
+
+  static Message CPPUNIT_API makeNotEqualMessage( const std::string &expectedValue,
+                                                  const std::string &actualValue,
+                                                  const AdditionalMessage &additionalMessage = AdditionalMessage(),
+                                                  const std::string &shortDescription = "equality assertion failed");
+
+  /*! \brief Throws an Exception with the specified message and location.
+   * \param expected Text describing the expected value.
+   * \param actual Text describing the actual value.
+   * \param sourceLine Location of the assertion.
+   * \param additionalMessage Additional message. Usually used to report
+   *                          what are the differences between the expected and actual value.
+   * \param shortDescription Short description for the failure message.
+   */
+  static void CPPUNIT_API failNotEqual( std::string expected, 
+                                        std::string actual, 
+                                        const SourceLine &sourceLine,
+                                        const AdditionalMessage &additionalMessage = AdditionalMessage(),
+                                        std::string shortDescription = "equality assertion failed" );
+
+  /*! \brief Throws an Exception with the specified message and location.
+   * \param shouldFail if \c true then the exception is thrown. Otherwise
+   *                   nothing happen.
+   * \param expected Text describing the expected value.
+   * \param actual Text describing the actual value.
+   * \param sourceLine Location of the assertion.
+   * \param additionalMessage Additional message. Usually used to report
+   *                          where the "difference" is located.
+   * \param shortDescription Short description for the failure message.
+   */
+  static void CPPUNIT_API failNotEqualIf( bool shouldFail,
+                                          std::string expected, 
+                                          std::string actual, 
+                                          const SourceLine &sourceLine,
+                                          const AdditionalMessage &additionalMessage = AdditionalMessage(),
+                                          std::string shortDescription = "equality assertion failed" );
+
+};
+
+
+CPPUNIT_NS_END
+
+
+#endif  // CPPUNIT_ASSERTER_H

3rdParty/include/cppunit/BriefTestProgressListener.h

@@ -0,0 +1,43 @@
+#ifndef CPPUNIT_BRIEFTESTPROGRESSLISTENER_H
+#define CPPUNIT_BRIEFTESTPROGRESSLISTENER_H
+
+#include <cppunit/TestListener.h>
+
+
+CPPUNIT_NS_BEGIN
+
+
+/*! \brief TestListener that prints the name of each test before running it.
+ * \ingroup TrackingTestExecution
+ */
+class CPPUNIT_API BriefTestProgressListener : public TestListener
+{
+public:
+  /*! Constructs a BriefTestProgressListener object.
+   */
+  BriefTestProgressListener();
+
+  /// Destructor.
+  virtual ~BriefTestProgressListener();
+
+  void startTest( Test *test );
+
+  void addFailure( const TestFailure &failure );
+
+  void endTest( Test *test );
+
+private:
+  /// Prevents the use of the copy constructor.
+  BriefTestProgressListener( const BriefTestProgressListener &copy );
+
+  /// Prevents the use of the copy operator.
+  void operator =( const BriefTestProgressListener &copy );
+
+private:
+  bool m_lastTestFailed;
+};
+
+
+CPPUNIT_NS_END
+
+#endif  // CPPUNIT_BRIEFTESTPROGRESSLISTENER_H