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Guilhem Saurel
pinocchio
Commits
66411afe
Commit
66411afe
authored
Sep 27, 2016
by
jcarpent
Browse files
[CMake] Move conditionnal to parent directory
parent
68639855
Changes
2
Hide whitespace changes
Inline
Side-by-side
bindings/CMakeLists.txt
View file @
66411afe
...
...
@@ -14,4 +14,6 @@
# pinocchio If not, see
# <http://www.gnu.org/licenses/>.
ADD_SUBDIRECTORY
(
python
)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_SUBDIRECTORY
(
python
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
bindings/python/CMakeLists.txt
View file @
66411afe
...
...
@@ -51,149 +51,147 @@ MACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
ENDMACRO
(
SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH
)
# --- LIBRARY --- #
IF
(
BUILD_PYTHON_INTERFACE
)
SET
(
${
PROJECT_NAME
}
_PYTHON_HEADERS
eigen_container.hpp
handler.hpp
python.hpp
se3.hpp
force.hpp
motion.hpp
inertia.hpp
joints-models.hpp
joints-variant.hpp
joint.hpp
joint-derived.hpp
frame.hpp
model.hpp
data.hpp
algorithm/algorithms.hpp
parsers.hpp
explog.hpp
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
SET
(
${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
parsers/python.hpp
)
SET
(
${
PROJECT_NAME
}
_PARSER_PYTHON_SOURCES
parsers/python/model.cpp
)
SET
(
${
PROJECT_NAME
}
_PYTHON_SOURCES
module.cpp
expose-SE3.cpp
expose-motion.cpp
expose-force.cpp
expose-inertia.cpp
expose-explog.cpp
expose-joints.cpp
expose-frame.cpp
expose-model.cpp
expose-data.cpp
expose-parsers.cpp
algorithm/expose-algorithms.cpp
algorithm/expose-com.cpp
algorithm/expose-kinematics.cpp
algorithm/expose-dynamics.cpp
algorithm/expose-crba.cpp
algorithm/expose-rnea.cpp
algorithm/expose-aba.cpp
algorithm/expose-jacobian.cpp
algorithm/expose-joints.cpp
algorithm/expose-energy.cpp
algorithm/expose-frames.cpp
algorithm/expose-cat.cpp
)
LIST
(
APPEND
${
PROJECT_NAME
}
_PYTHON_HEADERS
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
LIST
(
APPEND
${
PROJECT_NAME
}
_PYTHON_SOURCES
expose-geometry.cpp
algorithm/expose-geometry.cpp
)
LIST
(
APPEND HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
)
LIST
(
REMOVE_DUPLICATES HEADERS
)
# Headers of the python binding
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/algorithm"
)
SYMLINK_AND_INSTALL_HEADERS
(
"
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
"
"bindings/python"
)
# Headers of the python parser
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/parsers/python"
)
SYMLINK_AND_INSTALL_HEADERS
(
"
${${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
}
"
""
)
# --- COMPILE WRAPPER
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
"
)
SET
(
${
PYWRAP
}
_SOURCES
${${
PROJECT_NAME
}
_PYTHON_SOURCES
}
${${
PROJECT_NAME
}
_PARSER_PYTHON_SOURCES
}
)
SET
(
${
PYWRAP
}
_HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
${${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
}
)
ADD_LIBRARY
(
${
PYWRAP
}
SHARED
${${
PYWRAP
}
_SOURCES
}
${${
PYWRAP
}
_HEADERS
}
)
ADD_HEADER_GROUP
(
${
PYWRAP
}
_PYTHON_HEADERS
)
ADD_SOURCE_GROUP
(
${
PYWRAP
}
_PYTHON_SOURCES
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
eigenpy
)
TARGET_LINK_LIBRARIES
(
${
PYWRAP
}
${
PROJECT_NAME
}
)
TARGET_LINK_BOOST_PYTHON
(
${
PYWRAP
}
)
IF
(
APPLE
)
# We need to change the extension for python bindings
SET_TARGET_PROPERTIES
(
${
PYWRAP
}
PROPERTIES SUFFIX
".so"
)
ENDIF
(
APPLE
)
SET_TARGET_PROPERTIES
(
${
PYWRAP
}
PROPERTIES
LIBRARY_OUTPUT_DIRECTORY
"
${
CMAKE_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
"
)
SET
(
${
PROJECT_NAME
}
_PYTHON_HEADERS
eigen_container.hpp
handler.hpp
python.hpp
se3.hpp
force.hpp
motion.hpp
inertia.hpp
joints-models.hpp
joints-variant.hpp
joint.hpp
joint-derived.hpp
frame.hpp
model.hpp
data.hpp
algorithm/algorithms.hpp
parsers.hpp
explog.hpp
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
SET
(
${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
parsers/python.hpp
)
SET
(
${
PROJECT_NAME
}
_PARSER_PYTHON_SOURCES
parsers/python/model.cpp
)
SET
(
${
PROJECT_NAME
}
_PYTHON_SOURCES
module.cpp
expose-SE3.cpp
expose-motion.cpp
expose-force.cpp
expose-inertia.cpp
expose-explog.cpp
expose-joints.cpp
expose-frame.cpp
expose-model.cpp
expose-data.cpp
expose-parsers.cpp
algorithm/expose-algorithms.cpp
algorithm/expose-com.cpp
algorithm/expose-kinematics.cpp
algorithm/expose-dynamics.cpp
algorithm/expose-crba.cpp
algorithm/expose-rnea.cpp
algorithm/expose-aba.cpp
algorithm/expose-jacobian.cpp
algorithm/expose-joints.cpp
algorithm/expose-energy.cpp
algorithm/expose-frames.cpp
algorithm/expose-cat.cpp
)
LIST
(
APPEND
${
PROJECT_NAME
}
_PYTHON_HEADERS
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
LIST
(
APPEND
${
PROJECT_NAME
}
_PYTHON_SOURCES
expose-geometry.cpp
algorithm/expose-geometry.cpp
)
LIST
(
APPEND HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
)
LIST
(
REMOVE_DUPLICATES HEADERS
)
# Headers of the python binding
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/algorithm"
)
SYMLINK_AND_INSTALL_HEADERS
(
"
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
"
"bindings/python"
)
# Headers of the python parser
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/parsers/python"
)
SYMLINK_AND_INSTALL_HEADERS
(
"
${${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
}
"
""
)
# --- COMPILE WRAPPER
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
"
)
SET
(
${
PYWRAP
}
_SOURCES
${${
PROJECT_NAME
}
_PYTHON_SOURCES
}
${${
PROJECT_NAME
}
_PARSER_PYTHON_SOURCES
}
)
SET
(
${
PYWRAP
}
_HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
${${
PROJECT_NAME
}
_PARSER_PYTHON_HEADERS
}
)
ADD_LIBRARY
(
${
PYWRAP
}
SHARED
${${
PYWRAP
}
_SOURCES
}
${${
PYWRAP
}
_HEADERS
}
)
ADD_HEADER_GROUP
(
${
PYWRAP
}
_PYTHON_HEADERS
)
ADD_SOURCE_GROUP
(
${
PYWRAP
}
_PYTHON_SOURCES
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
eigenpy
)
TARGET_LINK_LIBRARIES
(
${
PYWRAP
}
${
PROJECT_NAME
}
)
TARGET_LINK_BOOST_PYTHON
(
${
PYWRAP
}
)
IF
(
APPLE
)
# We need to change the extension for python bindings
SET_TARGET_PROPERTIES
(
${
PYWRAP
}
PROPERTIES SUFFIX
".so"
)
ENDIF
(
APPLE
)
SET_TARGET_PROPERTIES
(
${
PYWRAP
}
PROPERTIES
LIBRARY_OUTPUT_DIRECTORY
"
${
CMAKE_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
"
)
INSTALL
(
FILES
"
${
CMAKE_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/lib
${
PYWRAP
}
.so"
DESTINATION
${
PYTHON_SITELIB
}
/
${
PROJECT_NAME
}
)
# --- INSTALL SCRIPTS
SET
(
PYTHON_FILES
__init__.py
utils.py
robot_wrapper.py
romeo_wrapper.py
rpy.py
explog.py
)
FOREACH
(
python
${
PYTHON_FILES
}
)
GET_FILENAME_COMPONENT
(
pythonFile
${
python
}
NAME
)
EXECUTE_PROCESS
(
COMMAND
${
CMAKE_COMMAND
}
-E
${
LINK
}
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/
${
python
}
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
)
# Tag pyc file as generated.
SET_SOURCE_FILES_PROPERTIES
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
PROPERTIES GENERATED TRUE
)
EXECUTE_PROCESS
(
COMMAND
${
PYTHON_EXECUTABLE
}
-m py_compile
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
)
# Clean generated files.
SET_PROPERTY
(
DIRECTORY APPEND PROPERTY
ADDITIONAL_MAKE_CLEAN_FILES
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
)
INSTALL
(
FILES
"
${
CMAKE_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/lib
${
PYWRAP
}
.so"
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/
${
python
}
"
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
DESTINATION
${
PYTHON_SITELIB
}
/
${
PROJECT_NAME
}
)
# --- INSTALL SCRIPTS
SET
(
PYTHON_FILES
__init__.py
utils.py
robot_wrapper.py
romeo_wrapper.py
rpy.py
explog.py
)
FOREACH
(
python
${
PYTHON_FILES
}
)
GET_FILENAME_COMPONENT
(
pythonFile
${
python
}
NAME
)
EXECUTE_PROCESS
(
COMMAND
${
CMAKE_COMMAND
}
-E
${
LINK
}
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/
${
python
}
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
)
# Tag pyc file as generated.
SET_SOURCE_FILES_PROPERTIES
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
PROPERTIES GENERATED TRUE
)
EXECUTE_PROCESS
(
COMMAND
${
PYTHON_EXECUTABLE
}
-m py_compile
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
)
# Clean generated files.
SET_PROPERTY
(
DIRECTORY APPEND PROPERTY
ADDITIONAL_MAKE_CLEAN_FILES
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
)
INSTALL
(
FILES
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/
${
python
}
"
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/lib/python/
${
PROJECT_NAME
}
/
${
pythonFile
}
c"
DESTINATION
${
PYTHON_SITELIB
}
/
${
PROJECT_NAME
}
)
ENDFOREACH
(
python
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
ENDFOREACH
(
python
)
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