diff --git a/CMakeLists.txt b/CMakeLists.txt
index 31941341c070b7dc743f0ff07a7bfd2fa466c433..8fb4912c9d442e1a07f0b78d8b3ca61d0fccaab8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
#
-# Copyright (c) 2014 CNRS
-# Authors: Florent Lamiraux
+# Copyright (c) 2014, 2020 CNRS
+# Authors: Florent Lamiraux, Guilhem Saurel
#
#
# This file is part of hpp-manipulation
@@ -17,12 +17,14 @@
# hpp-manipulation If not, see
# <http://www.gnu.org/licenses/>.
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
SET(PROJECT_NAME hpp-manipulation)
SET(PROJECT_DESCRIPTION "Classes for manipulation planning.")
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CXX_DISABLE_WERROR TRUE)
+
INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/test.cmake)
@@ -38,27 +40,21 @@ SET(DOXYGEN_TREEVIEW "NO" CACHE STRING "Set to YES to generate a tree view in th
SET(HPP_MANIPULATION_HAS_WHOLEBODY_STEP TRUE
CACHE BOOL "Compile with dependency to hpp-wholebody-step")
-SET(BOOST_BUILD_COMPONENTS unit_test_framework)
-SET(BOOST_INSTALL_COMPONENTS regex)
-SET(BOOST_COMPONENTS ${BOOST_INSTALL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
+SET(BOOST_COMPONENTS unit_test_framework regex)
SEARCH_FOR_BOOST()
-ADD_DOC_DEPENDENCY("hpp-pinocchio >= 4")
-ADD_DOC_DEPENDENCY("hpp-fcl >= 0.4.3")
-ADD_REQUIRED_DEPENDENCY("hpp-core >= 4")
-ADD_REQUIRED_DEPENDENCY("hpp-constraints >= 4")
-ADD_REQUIRED_DEPENDENCY("hpp-statistics >= 1.1")
-IF (HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
- ADD_REQUIRED_DEPENDENCY("hpp-wholebody-step >= 4")
-ENDIF ()
-IF (BUILD_TESTING)
- ADD_REQUIRED_DEPENDENCY("example-robot-data >= 3")
-ENDIF ()
-
-CONFIG_FILES (doc/main.hh
+ADD_PROJECT_DEPENDENCY("hpp-core" REQUIRED)
+IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
+ ADD_PROJECT_DEPENDENCY("hpp-wholebody-step" REQUIRED)
+ENDIF()
+IF(BUILD_TESTING)
+ ADD_PROJECT_DEPENDENCY("example-robot-data" REQUIRED)
+ENDIF()
+
+CONFIG_FILES(doc/main.hh
include/hpp/manipulation/package-config.hh)
-SET (${PROJECT_NAME}_HEADERS
+SET(${PROJECT_NAME}_HEADERS
${CMAKE_BINARY_DIR}/include/hpp/manipulation/package-config.hh
include/hpp/manipulation/fwd.hh
include/hpp/manipulation/handle.hh
@@ -101,14 +97,75 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/steering-method/end-effector-trajectory.hh
)
-SET(LIBRARY_NAME ${PROJECT_NAME})
+SET(${PROJECT_NAME}_SOURCES
+ src/handle.cc
+ src/manipulation-planner.cc
+ src/problem-solver.cc
+ src/roadmap.cc
+ src/connected-component.cc
+ src/leaf-connected-comp.cc
+ src/constraint-set.cc
+ src/roadmap-node.cc
+ src/device.cc
+ src/weighed-distance.cc
+ src/problem.cc
+ src/graph-path-validation.cc
+ src/graph-optimizer.cc
+
+ src/graph/state.cc
+ src/graph/edge.cc
+ src/graph/graph.cc
+ src/graph/graph-component.cc
+ src/graph/state-selector.cc
+ src/graph/guided-state-selector.cc
+ src/graph/statistics.cc
+ src/graph/helper.cc
+
+ src/graph/dot.cc
+ src/graph/validation.cc
+
+ src/path-optimization/random-shortcut.cc
+ src/path-optimization/enforce-transition-semantic.cc
+
+ src/path-planner/end-effector-trajectory.cc
+
+ src/problem-target/state.cc
+
+ src/steering-method/end-effector-trajectory.cc
+ src/steering-method/cross-state-optimization.cc
+ src/steering-method/graph.cc
+ )
+
+IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
+ SET(${PROJECT_NAME}_SOURCES
+ ${${PROJECT_NAME}_SOURCES}
+ src/path-optimization/small-steps.cc
+ )
+ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
+
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-core::hpp-core ${Boost_REGEX_LIBRARY})
+IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-wholebody-step::hpp-wholebody-step)
+ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
+
+INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+
+# GPL licenced part
+
+SET(${PROJECT_NAME}_SOURCES_GPL
+ src/path-optimization/spline-gradient-based.cc
+ )
+
+ADD_LIBRARY(${PROJECT_NAME}-gpl SHARED ${${PROJECT_NAME}_SOURCES_GPL})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}-gpl ${PROJECT_NAME} hpp-core::hpp-core-gpl)
+
+INSTALL(TARGETS ${PROJECT_NAME}-gpl EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(plugins)
IF(BUILD_TESTING)
ADD_SUBDIRECTORY(tests)
ENDIF()
-# Add dependency toward hpp-manipulation library in pkg-config file.
-PKG_CONFIG_APPEND_LIBS("hpp-manipulation")
-PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_INSTALL_COMPONENTS})
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
diff --git a/cmake b/cmake
index 7eca9ee6c9d1c4ee20eb82272e94f9d11642053a..a61ae61479a1d50d1ae3c988d1d9aaf20841173d 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 7eca9ee6c9d1c4ee20eb82272e94f9d11642053a
+Subproject commit a61ae61479a1d50d1ae3c988d1d9aaf20841173d
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index 77bbad0a5bba1c79631719a4122f665f8621cc51..63a3024f32e04cc29b379fb5a00f38175174e82a 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -1,5 +1,6 @@
-# Copyright (c) 2019, Joseph Mirabel
+# Copyright (c) 2019, 2020, CNRS
# Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+# Authors: Guilhem Saurel (guilhem.saurel@laas.fr)
#
# This file is part of hpp-manipulation.
# hpp-manipulation is free software: you can redistribute it
@@ -18,10 +19,8 @@ INCLUDE(${HPP_CORE_CMAKE_PLUGIN})
HPP_ADD_PLUGIN(manipulation-spline-gradient-based
SOURCES spline-gradient-based.cc
- LINK_DEPENDENCIES ${PROJECT_NAME} ${PROJECT_NAME}-gpl hpp-core-gpl
- PKG_CONFIG_DEPENDENCIES hpp-core)
+ LINK_DEPENDENCIES ${PROJECT_NAME}-gpl)
HPP_ADD_PLUGIN(end-effector-trajectory
SOURCES end-effector-trajectory.cc
- LINK_DEPENDENCIES ${PROJECT_NAME}
- PKG_CONFIG_DEPENDENCIES hpp-core)
+ LINK_DEPENDENCIES ${PROJECT_NAME})
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
deleted file mode 100644
index 3687f805e48433b89982dfd05545b443317cb49e..0000000000000000000000000000000000000000
--- a/src/CMakeLists.txt
+++ /dev/null
@@ -1,90 +0,0 @@
-#
-# Copyright (c) 2014 CNRS
-# Authors: Florent Lamiraux
-#
-#
-# This file is part of hpp-manipulation
-# hpp-manipulation 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.
-#
-# hpp-manipulation 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
-# hpp-manipulation If not, see
-# <http://www.gnu.org/licenses/>.
-
-SET(SOURCES
- handle.cc
- manipulation-planner.cc
- problem-solver.cc
- roadmap.cc
- connected-component.cc
- leaf-connected-comp.cc
- constraint-set.cc
- roadmap-node.cc
- device.cc
- weighed-distance.cc
- problem.cc
- graph-path-validation.cc
- graph-optimizer.cc
-
- graph/state.cc
- graph/edge.cc
- graph/graph.cc
- graph/graph-component.cc
- graph/state-selector.cc
- graph/guided-state-selector.cc
- graph/statistics.cc
- graph/helper.cc
-
- graph/dot.cc
- graph/validation.cc
-
- path-optimization/random-shortcut.cc
- path-optimization/enforce-transition-semantic.cc
-
- path-planner/end-effector-trajectory.cc
-
- problem-target/state.cc
-
- steering-method/end-effector-trajectory.cc
- steering-method/cross-state-optimization.cc
- steering-method/graph.cc
- )
-
-IF(HPP_WHOLEBODY_STEP_FOUND)
- SET(SOURCES
- ${SOURCES}
- path-optimization/small-steps.cc
- )
-ENDIF(HPP_WHOLEBODY_STEP_FOUND)
-
-ADD_LIBRARY(${LIBRARY_NAME} SHARED ${SOURCES})
-
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-core)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-statistics)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-constraints)
-IF(HPP_WHOLEBODY_STEP_FOUND)
- PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-wholebody-step)
-ENDIF(HPP_WHOLEBODY_STEP_FOUND)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-
-INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
-
-ADD_LIBRARY(${LIBRARY_NAME}-gpl SHARED
- path-optimization/spline-gradient-based.cc
- )
-
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-core)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-statistics)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-constraints)
-IF(HPP_WHOLEBODY_STEP_FOUND)
- PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-wholebody-step)
-ENDIF(HPP_WHOLEBODY_STEP_FOUND)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME}-gpl ${LIBRARY_NAME} hpp-core-gpl)
-
-INSTALL(TARGETS ${LIBRARY_NAME}-gpl DESTINATION lib)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 5da633d06a7e31f73950256351269ab3d73be861..fadf505acd7ef201ed7ab8e006dd38dce424503f 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,6 +1,6 @@
-# Copyright 2012, 2013, 2014 CNRS-LAAS
+# Copyright 2012, 2013, 2014, 2020 CNRS-LAAS
#
-# Author: Mathieu Geisert
+# Authors: Mathieu Geisert, Guilhem Saurel
#
# This file is part of hpp-core
# hpp-manipulation is free software: you can redistribute it and/or modify
@@ -15,12 +15,8 @@
# You should have received a copy of the GNU Lesser General Public License
# along with hpp-manipulation If not, see <http://www.gnu.org/licenses/>.
-INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-
# Make Boost.Test generates the main function in test cases.
ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
ADD_UNIT_TEST(test-constraintgraph test-constraintgraph.cc)
-PKG_CONFIG_USE_DEPENDENCY(test-constraintgraph hpp-core)
-TARGET_LINK_LIBRARIES(test-constraintgraph ${LIBRARY_NAME})
-
+TARGET_LINK_LIBRARIES(test-constraintgraph ${PROJECT_NAME} ${Boost_LIBRARIES})