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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/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/test.cmake)
SET(PROJECT_NAME sot-talos-balance)
SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing balance control on talos.")
SET(PROJECT_URL "https://gepgitlab.laas.fr/loco-3d/sot-talos-balance")
# So that generated headers are in same place as standard ones
SET(CUSTOM_HEADER_DIR "sot/talos_balance")
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SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
#add_compile_options(-std=c++11) # CMake 2.8.12 or newer
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
SETUP_PROJECT()
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" ON)
IF(INITIALIZE_WITH_NAN)
MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF(INITIALIZE_WITH_NAN)
PKG_CONFIG_APPEND_LIBS("sot-talos-balance")
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
OPTION (BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
SET(${LIBRARY_NAME}_PYTHON_FILES python/*.py)
SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/talos_balance)
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIR})
ENDIF(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2")
SET(SOTTALOSBALANCE_LIB_NAME ${PROJECT_NAME})
SET(LIBRARY_NAME ${SOTTALOSBALANCE_LIB_NAME})
SET(${LIBRARY_NAME}_HEADERS
include/sot/talos_balance/commands-helper.hh
include/sot/talos_balance/signal-helper.hh
include/sot/talos_balance/utils/logger.hh
include/sot/talos_balance/utils/stop-watch.hh
include/sot/talos_balance/utils/vector-conversions.hh
)
#INSTALL(FILES ${${LIBRARY_NAME}_HEADERS}
# DESTINATION include/sot/talos-balance
# PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
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src/logger.cpp
src/stop-watch.cpp
)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
SOVERSION ${PROJECT_VERSION}
INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
ENDIF(UNIX)
IF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
ENDIF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
IF(BUILD_PYTHON_INTERFACE)
INSTALL(FILES python/dynamic_graph/sot/talos_balance/__init__.py
python/dynamic_graph/sot/talos_balance/main.py
DESTINATION ${PYTHON_SITELIB}/talos_balance)
MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TARGETNAME)
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# By default the __init__.py file is installed.
SET(INSTALL_INIT_PY 1)
SET(SOURCE_PYTHON_MODULE "cmake/dynamic_graph/python-module-py.cc")
# Check if there is optional parameters.
set(extra_macro_args ${ARGN})
list(LENGTH extra_macro_args num_extra_args)
if( ${num_extra_args} GREATER 0)
list(GET extra_macro_args 0 INSTALL_INIT_PY)
if( ${num_extra_args} GREATER 1)
list(GET extra_macro_args 1 SOURCE_PYTHON_MODULE)
endif(${num_extra_args} GREATER 1)
endif(${num_extra_args} GREATER 0)
IF(NOT DEFINED PYTHONLIBS_FOUND)
FINDPYTHON()
ELSEIF(NOT ${PYTHONLIBS_FOUND} STREQUAL "TRUE")
MESSAGE(FATAL_ERROR "Python has not been found.")
ENDIF()
SET(PYTHON_MODULE ${TARGETNAME})
# We need to set this policy to old to accept wrap target.
CMAKE_POLICY(PUSH)
IF(POLICY CMP0037)
CMAKE_POLICY(SET CMP0037 OLD)
ENDIF()
ADD_LIBRARY(${PYTHON_MODULE}
MODULE
${PROJECT_SOURCE_DIR}/${SOURCE_PYTHON_MODULE})
FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/${MODULENAME}/${SUBMODULENAME})
SET_TARGET_PROPERTIES(${PYTHON_MODULE}
PROPERTIES PREFIX ""
OUTPUT_NAME ${MODULENAME}/${SUBMODULENAME}/wrap
)
CMAKE_POLICY(POP)
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} "-Wl,--no-as-needed")
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} ${LIBRARYNAME} ${PYTHON_LIBRARY})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
#
# Installation
#
SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${MODULENAME}/${SUBMODULENAME})
INSTALL(TARGETS ${PYTHON_MODULE}
DESTINATION
${PYTHON_INSTALL_DIR})
SET(ENTITY_CLASS_LIST "")
FOREACH (ENTITY ${NEW_ENTITY_CLASS})
SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
# Install if INSTALL_INIT_PY is set to 1
IF (${INSTALL_INIT_PY} EQUAL 1)
CONFIGURE_FILE(
${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
${PROJECT_BINARY_DIR}/src/${MODULENAME}/${SUBMODULENAME}/__init__.py
FILES ${PROJECT_BINARY_DIR}/src/${MODULENAME}/${SUBMODULENAME}/__init__.py
DESTINATION ${PYTHON_INSTALL_DIR}
)
ENDIF(${INSTALL_INIT_PY} EQUAL 1)
ENDMACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE)
MACRO(TALOS_BALANCE_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE(talos_balance "${SUBMODULENAME}" "${LIBRARYNAME}" "${TARGETNAME}")
ENDMACRO(TALOS_BALANCE_PYTHON_MODULE)