Catch2 tests moved under the flag BUILD_TESTING and are OFF be default

.github/workflows/wheels.yml

@@ -27,6 +27,7 @@ jobs:
             cmake -S $PWD -B $PWD/build \
              -DCMAKE_RUNTIME_OUTPUT_DIRECTORY=$PWD/bin \
              -DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$PWD/lib \
+             -DBUILD_TESTING=TRUE \
             && cmake --build build -j $(nproc)  
 
       - name: C++ unit tests

CMakeLists.txt

@@ -28,14 +28,19 @@ ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 ELSE()
 ENDIF(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 
+# BUILD_TESTING option handling. By default tests are turned off but the value is cached and can be changed in Cmake-GUI
+set(BUILD_TESTING false CACHE BOOL "Build unit tests for MROB modules")
+
+MESSAGE(STATUS "Build Tests: ${BUILD_TESTING}")
+
 IF(ANDROID)
-    SET(BUILD_TESTING OFF)
+    SET(BUILD_TESTING false)
 ELSE(ANDROID)
-    SET(BUILD_TESTING ON)
-    enable_testing()
+    IF(BUILD_TESTING)
+        enable_testing()
+    ENDIF(BUILD_TESTING)
 ENDIF(ANDROID)
 
-MESSAGE(STATUS "Build Tests: ${BUILD_TESTING}")
 
 # ===================================================================
 INCLUDE_DIRECTORIES(SYSTEM ./external/Eigen)

src/geometry/CMakeLists.txt

@@ -1,6 +1,5 @@
 # locate the additional necessary dependencies, if any
 
-
 # extra source files
 SET(sources
     SO3.cpp
@@ -16,25 +15,9 @@ SET(headers
 )
 
 # create the shared library
-ADD_LIBRARY(SE3 SHARED  ${sources})
-#TARGET_LINK_LIBRARIES( .. )
-#target_link_libraries(${PROJECT_NAME} ${position_3d_LIBRARY})
-
-
-#install 
-#INSTALL(TARGETS people_prediction
-#        RUNTIME DESTINATION bin
-#        LIBRARY DESTINATION lib/SE3
-#        ARCHIVE DESTINATION lib/SE3)
-
-#INSTALL(FILES ${headers} DESTINATION include/iridrivers/people_prediction)
-#INSTALL(FILES ${headers_random} DESTINATION include/iridrivers/people_prediction/random)
-#INSTALL(FILES ${headers_scene_elements} DESTINATION include/iridrivers/people_prediction/scene_elements)
-#INSTALL(FILES ${headers_nav} DESTINATION include/iridrivers/people_prediction/nav)
-
-
-#INSTALL(FILES ../Findpeople_prediction.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-
+ADD_LIBRARY(SE3 SHARED ${sources})
 
-ADD_SUBDIRECTORY(examples)
-#ADD_SUBDIRECTORY(test)
+# build tests if enabled
+IF(BUILD_TESTING)
+    ADD_SUBDIRECTORY(tests)
+ENDIF(BUILD_TESTING)

src/geometry/tests/CMakeLists.txt

@@ -0,0 +1,9 @@
+INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/external/Catch2/single_include/)
+
+ADD_EXECUTABLE(test_SE3 test_SE3.cpp)
+TARGET_LINK_LIBRARIES(test_SE3 SE3)
+ADD_TEST(NAME test_SE3 COMMAND $<TARGET_FILE:test_SE3>)
+
+ADD_EXECUTABLE(test_SE3cov test_SE3cov.cpp)
+TARGET_LINK_LIBRARIES(test_SE3cov SE3)
+ADD_TEST(NAME test_SE3cov COMMAND $<TARGET_FILE:test_SE3cov>)