From 5bac51b3232c27d606faeaa6746de9a04de149d6 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 5 Oct 2022 17:12:01 +0200
Subject: [PATCH] pre-commit run -a
---
CMakeLists.txt | 154 ++++++++++++++++++++++--------------------
python/CMakeLists.txt | 24 +++----
tests/CMakeLists.txt | 17 ++---
3 files changed, 98 insertions(+), 97 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 533b623..fbb7a7f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,103 +1,107 @@
cmake_minimum_required(VERSION 3.1)
# Project properties
-SET(PROJECT_NAME hpp-bezier-com-traj)
-SET(PROJECT_DESCRIPTION "Multi contact trajectory generation for the COM using Bezier curves")
+set(PROJECT_NAME hpp-bezier-com-traj)
+set(PROJECT_DESCRIPTION
+ "Multi contact trajectory generation for the COM using Bezier curves")
# Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(USE_GLPK "Use sparse lp solver" OFF)
-OPTION(PRINT_QHULL_INEQ "generate text file containing last inequality computed" OFF)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(USE_GLPK "Use sparse lp solver" OFF)
+option(PRINT_QHULL_INEQ
+ "generate text file containing last inequality computed" OFF)
# Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
+set(CXX_DISABLE_WERROR TRUE)
# JRL-cmakemodule setup
-INCLUDE(cmake/hpp.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/hpp.cmake)
+include(cmake/boost.cmake)
# Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
-IF(BUILD_PYTHON_INTERFACE)
- STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
- ADD_PROJECT_DEPENDENCY(eigenpy 2.7.12 REQUIRED)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+ string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+ add_project_dependency(eigenpy 2.7.12 REQUIRED)
+endif(BUILD_PYTHON_INTERFACE)
# Project dependencies
-ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED)
-ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
+add_project_dependency(hpp-centroidal-dynamics REQUIRED)
+add_project_dependency(ndcurves 1.0.0 REQUIRED)
-IF(USE_GLPK)
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
- ADD_PROJECT_DEPENDENCY(glpk REQUIRED)
- add_definitions ( -DUSE_GLPK_SOLVER=1)
-ENDIF(USE_GLPK)
+if(USE_GLPK)
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+ "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
+ add_project_dependency(glpk REQUIRED)
+ add_definitions(-DUSE_GLPK_SOLVER=1)
+endif(USE_GLPK)
# Main Library
-SET(${PROJECT_NAME}_HEADERS
- include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
- include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
- include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
- include/${CUSTOM_HEADER_DIR}/data.hh
- include/${CUSTOM_HEADER_DIR}/definitions.hh
- include/${CUSTOM_HEADER_DIR}/flags.hh
- include/${CUSTOM_HEADER_DIR}/local_config.hh
- include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
- include/${CUSTOM_HEADER_DIR}/solve.hh
- include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use stack-of-task/eiquadprog
- include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
- include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
- include/${CUSTOM_HEADER_DIR}/utils.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
- include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh
- )
-
-SET(${PROJECT_NAME}_SOURCES
- src/common_solve_methods.cpp
- src/costfunction_definition.cpp
- src/solver-abstract.cpp
- src/eiquadprog-fast.cpp
- src/computeCOMTraj.cpp
- src/solve_0_step.cpp
- src/utils.cpp
- src/waypoints_definition.cpp
- )
+set(${PROJECT_NAME}_HEADERS
+ include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
+ include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
+ include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
+ include/${CUSTOM_HEADER_DIR}/data.hh
+ include/${CUSTOM_HEADER_DIR}/definitions.hh
+ include/${CUSTOM_HEADER_DIR}/flags.hh
+ include/${CUSTOM_HEADER_DIR}/local_config.hh
+ include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
+ include/${CUSTOM_HEADER_DIR}/solve.hh
+ include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use
+ # stack-of-task/eiquadprog
+ include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
+ include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
+ include/${CUSTOM_HEADER_DIR}/utils.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
+ include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh)
+
+set(${PROJECT_NAME}_SOURCES
+ src/common_solve_methods.cpp
+ src/costfunction_definition.cpp
+ src/solver-abstract.cpp
+ src/eiquadprog-fast.cpp
+ src/computeCOMTraj.cpp
+ src/solve_0_step.cpp
+ src/utils.cpp
+ src/waypoints_definition.cpp)
if(USE_GLPK)
- SET(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES}
- src/glpk-wrapper.cpp
- )
+ set(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} src/glpk-wrapper.cpp)
endif(USE_GLPK)
-ADD_LIBRARY(${PROJECT_NAME} SHARED
- ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+ ${${PROJECT_NAME}_HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
+ hpp-centroidal-dynamics::hpp-centroidal-dynamics)
if(USE_GLPK)
- TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${glpk_LIBRARY})
+ target_include_directories(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
+ target_link_libraries(${PROJECT_NAME} ${glpk_LIBRARY})
endif(USE_GLPK)
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+install(
+ TARGETS ${PROJECT_NAME}
+ EXPORT ${TARGETS_EXPORT_NAME}
+ DESTINATION lib)
-ADD_SUBDIRECTORY(tests)
-IF(BUILD_PYTHON_INTERFACE)
- ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+add_subdirectory(tests)
+if(BUILD_PYTHON_INTERFACE)
+ add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index e50ba63..f309b87 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,21 +1,21 @@
# Define the wrapper library that wraps our library
-add_library(${PY_NAME} SHARED bezier_com_traj.cpp )
+add_library(${PY_NAME} SHARED bezier_com_traj.cpp)
target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
# don't prepend wrapper library name with lib
set_target_properties(${PY_NAME} PROPERTIES PREFIX "")
-IF(APPLE)
+if(APPLE)
# We need to change the extension for python bindings
- SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so")
-ENDIF(APPLE)
+ set_target_properties(${PY_NAME} PROPERTIES SUFFIX ".so")
+endif(APPLE)
-INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
+install(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
-SET(${PROJECT_NAME}_PYTHON_TESTS
- binding_tests.py
- #compare_pin_inv_dyn.py requires pinocchio_inv_dyn
- )
+set(${PROJECT_NAME}_PYTHON_TESTS
+ binding_tests.py
+ # compare_pin_inv_dyn.py requires pinocchio_inv_dyn
+)
-FOREACH(test ${${PROJECT_NAME}_PYTHON_TESTS})
- ADD_PYTHON_UNIT_TEST(${test} "python/test/${test}" "python")
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_PYTHON_TESTS})
+ add_python_unit_test(${test} "python/test/${test}" "python")
+endforeach(test)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index d56cf90..33000b1 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,11 +1,8 @@
-SET(${PROJECT_NAME}_TESTS
- transition-quasi-static
- transition
- bezier-symbolic
- #zero-step-capturability # hangs forever ?
- )
+set(${PROJECT_NAME}_TESTS transition-quasi-static transition bezier-symbolic
+ # zero-step-capturability # hangs forever ?
+)
-FOREACH(test ${${PROJECT_NAME}_TESTS})
- ADD_UNIT_TEST("${test}" "test-${test}.cpp")
- TARGET_LINK_LIBRARIES(${test} ${PROJECT_NAME})
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_TESTS})
+ add_unit_test("${test}" "test-${test}.cpp")
+ target_link_libraries(${test} ${PROJECT_NAME})
+endforeach(test)
--
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