[cmake][C++][bug fix] Moved initialization of static const variable gravity...

[cmake][C++][bug fix] Moved initialization of static const variable gravity 981 from model.hpp to model.cpp. libpinocchio.so is no more empty. Caution : Pinocchio is more a header-only library. One should alwais link against shared library

benchmark/CMakeLists.txt

@@ -5,5 +5,6 @@
 ADD_EXECUTABLE(timings timings.cpp)
 PKG_CONFIG_USE_DEPENDENCY(timings eigen3)
 PKG_CONFIG_USE_DEPENDENCY(timings urdfdom)
+TARGET_LINK_LIBRARIES(timings ${PROJECT_NAME})
 
 SET_TARGET_PROPERTIES (timings PROPERTIES COMPILE_DEFINITIONS PINOCCHIO_SOURCE_DIR="${${PROJECT_NAME}_SOURCE_DIR}")

src/CMakeLists.txt

@@ -43,17 +43,24 @@ ENDMACRO(ADD_TARGET_CFLAGS)
 # --- C++ --------------------------------------------
 # ----------------------------------------------------
 
+SET(${PROJECT_NAME}_MULTIBODY_SOURCES
+  multibody/model.cpp
+  )
+
+SET(${PROJECT_NAME}_SOURCES
+  ${${PROJECT_NAME}_MULTIBODY_SOURCES}
+  )
+
 IF(LUA5_1_FOUND)
   SET(${PROJECT_NAME}_MULTIBODY_PARSER_LUA_SOURCES 
       multibody/parser/lua/lua_tables.cpp
       multibody/parser/lua.cpp
     )
-  SET(BUILD_MAIN_LIBRARY True)
+  LIST(APPEND ${PROJECT_NAME}_SOURCES ${PROJECT_NAME}_MULTIBODY_PARSER_LUA_SOURCES)
 ENDIF(LUA5_1_FOUND)
 
-SET(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_MULTIBODY_PARSER_LUA_SOURCES}) 
 
-IF (UNIX AND BUILD_MAIN_LIBRARY)
+IF (UNIX)
     # Create target libpinocchio.so
     ADD_LIBRARY ( ${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES} )
 		SET_TARGET_PROPERTIES( ${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)

src/multibody/model.cpp

+#include "pinocchio/multibody/model.hpp"
+
+namespace se3
+{
+  const Eigen::Vector3d Model::gravity981 (0,0,-9.81);
+}

src/multibody/model.hpp

@@ -162,7 +162,7 @@ namespace se3
 
   };
 
-  const Eigen::Vector3d Model::gravity981 (0,0,-9.81);
+  
 
 } // namespace se3
 

unittest/CMakeLists.txt

@@ -27,7 +27,7 @@ MACRO(ADD_UNIT_TEST NAME PKGS)
   FOREACH(PKG ${PKGS})
     PKG_CONFIG_USE_DEPENDENCY(${NAME} ${PKG})
   ENDFOREACH(PKG)
-  TARGET_LINK_LIBRARIES (${NAME} ${Boost_LIBRARIES})
+  TARGET_LINK_LIBRARIES (${NAME} ${Boost_LIBRARIES} ${PROJECT_NAME})
   ADD_TEST(NAME ${NAME} COMMAND ${NAME})
   ADD_DEPENDENCIES(check ${NAME})
 ENDMACRO(ADD_UNIT_TEST)