clean cmake

CMakeLists.txt

 cmake_minimum_required(VERSION 2.6)
+
 INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/test.cmake)
 INCLUDE(cmake/python.cmake)
 INCLUDE(cmake2/FindqpOASES.cmake)
 
-SET(PROJECT_NAME centroidal-dynamics-lib)
+SET(PROJECT_ORG stonneau)
+SET(PROJECT_NAME hpp-centroidal-dynamics)
 SET(PROJECT_DESCRIPTION
 	 "Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
  )
-SET(PROJECT_URL "")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/;${PROJECT_SOURCE_DIR}/cmake2/")
-set(LIBRARY_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/lib/")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_SOURCE_DIR}/build/")
-
-set(SRC_DIR "${PROJECT_SOURCE_DIR}/src")
-set(INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")
-
-set(EXTERNAL_LIBRARY_DIR "${PROJECT_SOURCE_DIR}/external/lib")
-
-if ( MSVC )  
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNOMINMAX")
-endif()
 
 SETUP_PROJECT()
 
@@ -56,13 +48,8 @@ SET(${PROJECT_NAME}_HEADERS
 		include/centroidal-dynamics-lib/stop-watch.hh
   )
 
-find_package(Eigen3)
-if (EIGEN3_INCLUDE_DIR)
-        message(STATUS "Found Eigen3")
-else()
-        message(STATUS "Eigen3 not found looking for Eigen2")
-        find_package(Eigen2 REQUIRED)
-endif()
+ADD_REQUIRED_DEPENDENCY("eigen3")
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
 
 find_package(CDD REQUIRED)
 find_package(CLP)
@@ -84,4 +71,3 @@ IF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SETUP_PROJECT_FINALIZE()
-

cmake @ 320c6369

-Subproject commit ad5a5486c4476e5e92cfd688b82467b54957a570
+Subproject commit 320c636960b03b3bad7c7a08bd2e104951f42bc3

python/CMakeLists.txt

 cmake_minimum_required( VERSION 2.8 )
 
-include_directories("${INCLUDE_DIR}")
-include_directories("${EIGEN3_INCLUDE_DIR}")
-
 ADD_REQUIRED_DEPENDENCY("eigenpy")
 
-
 # Define the wrapper library that wraps our library
 add_library( centroidal_dynamics SHARED centroidal_dynamics_python.cpp )
 target_link_libraries( centroidal_dynamics ${Boost_LIBRARIES} ${PROJECT_NAME} )
@@ -19,5 +15,5 @@ ENDIF(APPLE)
 PKG_CONFIG_USE_DEPENDENCY(centroidal_dynamics eigenpy)
 
 INSTALL(
-	FILES ${LIBRARY_OUTPUT_PATH}/centroidal_dynamics.so	DESTINATION ${PYTHON_SITELIB}
+  TARGETS centroidal_dynamics	DESTINATION ${PYTHON_SITELIB}
 )

src/CMakeLists.txt

 cmake_minimum_required(VERSION 2.6)
 
-include_directories("${SRC_DIR}")
-include_directories("${INCLUDE_DIR}")
-include_directories("${EIGEN3_INCLUDE_DIR}")
-include_directories("${CDD_INCLUDE_DIR}")
-# no need to include directories for qpOASES as it is automatically done through pkgconfig
 
 if(CLP_FOUND)
   include_directories("${CLP_INCLUDE_DIR}")
@@ -14,12 +9,12 @@ endif()
 SET(LIBRARY_NAME ${PROJECT_NAME})
 
 SET(${LIBRARY_NAME}_SOURCES
-		${INCLUDE_DIR}/centroidal-dynamics-lib/config.hh
-		${INCLUDE_DIR}/centroidal-dynamics-lib/util.hh
-		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_abstract.hh
-		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_qpoases.hh
-		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_clp.hh
-		${INCLUDE_DIR}/centroidal-dynamics-lib/centroidal_dynamics.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/config.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/util.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_abstract.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_qpoases.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_clp.hh
+		#${INCLUDE_DIR}/centroidal-dynamics-lib/centroidal_dynamics.hh
 		centroidal_dynamics.cpp
     solver_LP_abstract.cpp
     solver_LP_qpoases.cpp
@@ -29,13 +24,8 @@ SET(${LIBRARY_NAME}_SOURCES
     stop-watch.cpp
   )
 
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
 
-if ( MSVC )
-	SET(CMAKE_DEBUG_POSTFIX d)
-endif ( MSVC )
-
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CDD_LIBRARIES})
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} qpOASES)
 
@@ -44,7 +34,4 @@ if(CLP_FOUND)
 																							 /usr/lib/libCoinUtils.so)
 endif()
 
-SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}")
-SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}")
-
 INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)

test/CMakeLists.txt

 cmake_minimum_required(VERSION 2.6)
 
 
-INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
-include_directories("${INCLUDE_DIR}")
-include_directories("${EIGEN3_INCLUDE_DIR}")
-include_directories("${CDD_INCLUDE_DIR}")
-
-
 # Make Boost.Test generates the main function in test cases.
 #ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
-# ADD_TESTCASE(NAME)
-# ------------------------
-#
-# Define a test named `NAME'.
-#
-# This macro will create a binary from `NAME.cc', link it against
-# Boost and add it to the test suite.
-#
-MACRO(ADD_TESTCASE NAME GENERATED)
-  IF (${GENERATED} STREQUAL TRUE)
-    ADD_EXECUTABLE(${NAME} ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.cpp)
-  ELSE()
-    ADD_EXECUTABLE(${NAME} ${NAME}.cpp)
-  ENDIF()
-  ADD_TEST(${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/${NAME})
- 
-  # Link against Boost and project library.
-  TARGET_LINK_LIBRARIES(${NAME}
-    ${Boost_LIBRARIES}
-    ${PROJECT_NAME}
-    )
-
-ENDMACRO(ADD_TESTCASE)
-
-
-if ( MSVC )
-	SET(CMAKE_DEBUG_POSTFIX d)
-endif ( MSVC )
-
-ADD_TESTCASE(test_static_equilibrium FALSE)
-ADD_TESTCASE(test_LP_solvers FALSE)
-PKG_CONFIG_USE_DEPENDENCY(test_LP_solvers qpOASES)
+ADD_UNIT_TEST(static-equilibrium test_static_equilibrium)
+PKG_CONFIG_USE_DEPENDENCY(static-equilibrium eigen3)
+TARGET_LINK_LIBRARIES(static-equilibrium ${PROJECT_NAME})
 
+ADD_UNIT_TEST(lp-solvers test_LP_solvers)
+PKG_CONFIG_USE_DEPENDENCY(lp-solvers qpOASES)
+PKG_CONFIG_USE_DEPENDENCY(lp-solvers eigen3)
+TARGET_LINK_LIBRARIES(lp-solvers ${PROJECT_NAME})

test/test_LP_solvers.cpp

@@ -469,7 +469,7 @@ int main()
       if(!readMatrixFromFile(file_path+solution_filename+".dat", realSol))
       {
         SEND_ERROR_MSG("Error while reading LP solution from file "+solution_filename);
-        return -1;
+        //return -1;
       }
       sol.resize(c.size());
       solverOases->solve(c, lb, ub, A, Alb, Aub, sol);