MRPT libraries tree layout


This page describes the internal structure of MRPT sources, which is intended for MRPT developers/contributors. More often, users will be interested in writing their own programs that use MRPT, as described here:

Using MRPT in your CMake project

1. Tree overview

The MRPT source tree looks like this:

  • MRPT

    • apps: Applications

    • libs: C++ libraries

The part of interest here is the “libs” directory, where there are a number of libraries or modules, all with a common structure, which is described here.

2. Name

The name of all the libraries must be “mrpt-<name>”, where <name> is a lowercase word describing the module. Examples are “slam”, “math”, or “vision”. Note that the directories under “MRPT/libs/” are named “<name>”, not “mrpt-<name>”, while the library itself to be generated after building will be mrpt-<name>.dll (or .so for UNIX systems).

3. Tree outline

Each “module” mrpt-<name> must have, at least, these files and directories:

  • MRPT

    • libs: C++ libraries

      • name

        • src

          • ``precomp_hdr.cpp``(This file must only contain a: ``#include <mrpt/name.h> ``)

          • registerAllClasses.cpp (optional: used to register all ```CSerializable`` <>`__objects so they can be de-serialized without knowing their type in advance)

          • (the rest of source files)

        • include

          • mrpt

            • name

              • link_pragmas.h

              • (the rest of include files)

            • ``name.h`` (this will be the precompiled header: ``#include <mrpt/name.h> ``)

        • CMakeLists.txt

For template contents for each of the required files, please take a look at some of the simplest libraries, like mrpt-topography under MRPT/libs/topography. Note that this structure keeps the header files of each library separately, so the user of MRPT must specify the dependencies in his/her CMake configuration file, as described here: Using MRPT in your CMake project

4. The CMakeLists.txt file

If there are no complex conditional compiling options or any other complications, declaring an MRPT library is as simple as writing just the following in its CMakeListst.txt file:

# Macro declared in "DeclareMRPTLib.cmake":
# Lib name
# Dependencies

Notice that files matching the patterns *_LIN.cpp and *_WIN.cpp are automatically ignored when building under Windows or Linux/MacOS, respectively. For the usage of more advanced features, please refer to DeclareMRPTLib.cmake or the scripts for the existing libraries.

5. Unit testing

The MRPT CMake scripts automatically recognize those files under the src directory with the pattern *_unittest.cpp as files for unit testing. MRPT uses the Google’s gtest library to perform these tests.

To see how to invoke the regular unit tests, or how to run them automatically under gdb or valgrind, see: Unit testing in MRPT.

Note that the *_unittest.cpp files are not included in the “mrpt-<name>” library, but a new target test-<name> is automatically created which is invoked when doing make test or make test_legacy. A typical content of a unit testing file is (see existing tests for more examples):

#include <mrpt/slam.h>
#include <gtest/gtest.h>

TEST(MyTestCaseName, ThisTestName)
double err;
// Do whatever...
EXPECT_EQ(0, err ) << "Differences were found when checking ...\n";