Adjust linker flags for gtest

RainerKuemmerle · Aug 11, 2024 · e0c7b1a · e0c7b1a
1 parent 1f66493
commit e0c7b1a
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Showing 4 changed files with 20 additions and 8 deletions.
diff --git a/unit_test/CMakeLists.txt b/unit_test/CMakeLists.txt
@@ -1,3 +1,7 @@
+if (MSVC)
+ set(BUILD_SHARED_LIBS OFF)
+endif()
+
 include(FetchContent)
 FetchContent_Declare(
   googletest
@@ -9,11 +13,18 @@ set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 # Prevent installing gtest/gmock
 set(INSTALL_GTEST OFF CACHE BOOL "" FORCE)
 FetchContent_MakeAvailable(googletest)
+if (BUILD_SHARED_LIBS)
+  target_compile_definitions(gtest PRIVATE "GTEST_CREATE_SHARED_LIBRARY=1")
+  target_compile_definitions(gmock PRIVATE "GTEST_CREATE_SHARED_LIBRARY=1")
+endif()
 
 set(UNITTEST_BASE_DIR "${CMAKE_CURRENT_LIST_DIR}")
 function(create_test target)
   target_sources(${target} PRIVATE ${UNITTEST_BASE_DIR}/test_helper/test_main.cpp)
-  target_link_libraries(${target} gtest gmock)
+  if (BUILD_SHARED_LIBS)
+    set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "GTEST_LINKED_AS_SHARED_LIBRARY=1")
+  endif()
+  target_link_libraries(${target} gmock gtest)
   add_test (NAME ${target} COMMAND $<TARGET_FILE:${target}>)
 endfunction()
 

diff --git a/unit_test/general/optimization_basics.cpp b/unit_test/general/optimization_basics.cpp
@@ -30,6 +30,7 @@
 #include <cstddef>
 #include <memory>
 
+#include "g2o/core/eigen_types.h"
 #include "g2o/core/factory.h"
 #include "g2o/core/hyper_graph.h"
 #include "g2o/core/hyper_graph_action.h"
@@ -122,7 +123,7 @@ TEST(OptimizationBasics, ActionCalls) {
   // Add vertices
   for (size_t i = 0; i < kNumVertices; ++i) {
     auto v = std::make_shared<MockVertexSE2>();
-    v->setEstimate(g2o::SE2());
+    v->setEstimate(g2o::SE2(g2o::Vector3::Random()));
     v->setId(i);
     v->setFixed(i == 0);  // fix the first vertex
     optimizer->addVertex(v);
@@ -133,7 +134,7 @@ TEST(OptimizationBasics, ActionCalls) {
     auto e1 = std::make_shared<g2o::EdgeSE2>();
     e1->vertices()[0] = optimizer->vertex((i + 0) % kNumVertices);
     e1->vertices()[1] = optimizer->vertex((i + 1) % kNumVertices);
-    e1->setMeasurement(g2o::SE2(1., 0., 0.));
+    e1->setMeasurement(g2o::SE2(g2o::Vector3::Random()));
     e1->setInformation(g2o::EdgeSE2::InformationType::Identity());
     optimizer->addEdge(e1);
   }

diff --git a/unit_test/stuff/command_args_tests.cpp b/unit_test/stuff/command_args_tests.cpp
@@ -132,14 +132,11 @@ class CommandArgsTestAdapter : public g2o::CommandArgs {
 };
 }  // namespace
 
-class CommandArgsTypeToStr : public testing::TestWithParam<int> {
- protected:
-  CommandArgsTestAdapter command_args;
-};
+class CommandArgsTypeToStr : public testing::TestWithParam<int> {};
 
 TEST_P(CommandArgsTypeToStr, type2str) {
   const int type = GetParam();
-  const std::string type_str = command_args.type2str(type);
+  const std::string type_str = CommandArgsTestAdapter::type2str(type);
   EXPECT_FALSE(type_str.empty());
 }
 

diff --git a/unit_test/test_helper/CMakeLists.txt b/unit_test/test_helper/CMakeLists.txt
@@ -2,4 +2,7 @@ add_library(unittest_helper ${G2O_LIB_TYPE}
   utils.cpp
   allocate_optimizer.cpp allocate_optimizer.h
 )
+if (BUILD_SHARED_LIBS)
+  set_target_properties(unittest_helper PROPERTIES COMPILE_DEFINITIONS "GTEST_LINKED_AS_SHARED_LIBRARY=1")
+endif()
 target_link_libraries(unittest_helper solver_eigen stuff gmock)