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# Copyright 2018, Gepetto team, LAAS-CNRS
#
# This file is part of sot-talos-balance.
# sot-talos-balance is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-talos-balance is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
# Verbosity level
IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
# The main include dir
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
IF(BUILD_PYTHON_INTERFACE)
LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
ENDIF(BUILD_PYTHON_INTERFACE)
#define DEBUG=2 if we're building in debug mode (what for?)
IF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
ADD_DEFINITIONS(-DDEBUG=2)
ENDIF ("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
IF(UNIX)
ADD_DEFINITIONS(-pthread)
ENDIF(UNIX)
#This project will create many plugins as shared libraries, listed here
SET(plugins
example
joint-admittance-controller
nd-trajectory-generator
)
#set(ADDITIONAL_feature-task_LIBS feature-generic task)
#Plugins compilation, link, and installation
#Compiles a plugin. The plugin library is ${LIBRARY_NAME}
FOREACH(plugin ${plugins})
#retrieve plugin name
GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
# only one source file per plugin
ADD_LIBRARY(${LIBRARY_NAME}
SHARED
${plugin}.cpp)
#remove the "lib" prefix from the plugin output name
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
PREFIX "")
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
SOVERSION ${PROJECT_VERSION}
# Link with sot-talos-balance library
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${SOTTALOSBALANCE_LIB_NAME})
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
ADD_DEPENDENCIES(${LIBRARY_NAME} ${SOTTALOSBALANCE_LIB_NAME})
IF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
ADD_DEPENDENCIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
ENDIF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
# Linux dynamic loading library flags
IF(UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
ENDIF(UNIX)
IF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dl pthread)
ENDIF(UNIX AND NOT APPLE)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
# build python submodule
# (replace minus with underscore to make Python happy)
IF(BUILD_PYTHON_INTERFACE)
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
${LIBRARY_NAME}
sot-talos-balance-${PYTHON_LIBRARY_NAME}-wrap
)
ENDIF(BUILD_PYTHON_INTERFACE)
# Install plugins
INSTALL(TARGETS ${LIBRARY_NAME}
ENDFOREACH(plugin)
# Bindings Python
IF(BUILD_PYTHON_INTERFACE)
SOT_TALOS_BALANCE_PYTHON_MODULE("" ${SOTTALOSBALANCE_LIB_NAME} wrap)
# Install empty __init__.py files in intermediate directories.
INSTALL(FILES
${CMAKE_CURRENT_BINARY_DIR}/${SOTTALOSBALANCE_PYNAME}/__init__.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}