Classes to handle and visualize 2D and 3D objects such as points, poses, lines as well as a plot windows for debugging.

If using the geo_handler.hpp one must link the GeographicLib. Under Ubuntu 22.04 this can be done by installing the libgeographic-dev using sudo apt install libgeographic-dev, by adding the following statement to your CMakeLists.txt and <depend>geographiclib</depend> to your package.xml.

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
find_package(GeographicLib QUIET)
if(GeographicLib_FOUND)
  message(STATUS "GeographicLib found: building geo_map!")
else()
  message(ERROR "GeographicLib NOT found: not building geo_map!")
endif()

cd tuw_geometry
doxygen Doxyfile

The geo_map.cpp depends on the GeographicLib. If you cannot install it or if you like to go on without the GeographicLib you have to remove the geographiclib entries from the package.xml as well as the lines pointing to geo_map.cpp and the GeographicLib from the CMakeFile.txt.

Unittests can be run by

colcon build --packages-select tuw_geometry --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --cmake-args -DBUILD_TESTING=true
run tuw_geometry test_geometry