Commit 15d0c884 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge tag 'v4.9.0'

Release of version 4.9.0.
parents f348551f 537afe73
Pipeline #11007 passed with stage
in 9 minutes and 37 seconds
......@@ -15,19 +15,18 @@
# You should have received a copy of the GNU Lesser General Public License
# along with hpp-pinocchio. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
SET(CXX_DISABLE_WERROR TRUE)
SET(PROJECT_NAME hpp-pinocchio)
SET(PROJECT_DESCRIPTION "Wrapping of the kinematic/dynamic chain Pinocchio for HPP.")
OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" ON)
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/ros.cmake)
INCLUDE(cmake/apple.cmake)
INCLUDE(cmake/test.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
......@@ -65,12 +64,12 @@ ENDIF()
SEARCH_FOR_BOOST()
# Search for dependecies.
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3.2")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.10")
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.2.92")
ADD_PROJECT_DEPENDENCY(hpp-util REQUIRED PKG_CONFIG_REQUIRES "hpp-util >= 3.2")
ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.1.10")
ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED "eigen3 >= 3.2.92")
ADD_OPTIONAL_DEPENDENCY("example-robot-data")
ADD_OPTIONAL_DEPENDENCY("hpp-environments")
ADD_PROJECT_DEPENDENCY("example-robot-data")
ADD_PROJECT_DEPENDENCY("hpp-environments")
# Set header files.
SET(${PROJECT_NAME}_HEADERS
......@@ -103,7 +102,37 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/pinocchio/urdf/util.hh
)
ADD_SUBDIRECTORY(src)
SET(${PROJECT_NAME}_SOURCES
src/addition-visitor.hh
src/comparison.hh
src/comparison.hxx
src/device.cc
src/device-data.cc
src/device-sync.cc
src/humanoid-robot.cc
src/joint.cc
src/frame.cc
src/collision-object.cc
src/body.cc
src/gripper.cc
src/center-of-mass-computation.cc
src/configuration.cc
src/simple-device.cc
src/liegroup-element.cc
src/liegroup-space.cc
src/log-visitor.hh
src/size-visitor.hh
src/substraction-visitor.hh
src/urdf/util.cc
src/util.cc
)
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-util::hpp-util pinocchio::pinocchio)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
ADD_SUBDIRECTORY(tests)
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
......
Subproject commit 7eca9ee6c9d1c4ee20eb82272e94f9d11642053a
Subproject commit a61ae61479a1d50d1ae3c988d1d9aaf20841173d
# Copyright 2016 CNRS-LAAS
#
# Author: Joseph Mirabel, Nicolas Mansard from Antonio El Khoury
#
# This file is part of hpp-pinocchio.
# hpp-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
SET(LIBRARY_NAME ${PROJECT_NAME})
SET(LIBRARY_SOURCES
addition-visitor.hh
comparison.hh
comparison.hxx
device.cc
device-data.cc
device-sync.cc
humanoid-robot.cc
joint.cc
frame.cc
collision-object.cc
body.cc
gripper.cc
center-of-mass-computation.cc
configuration.cc
simple-device.cc
liegroup-element.cc
liegroup-space.cc
log-visitor.hh
size-visitor.hh
substraction-visitor.hh
urdf/util.cc
util.cc
)
#Adding headers to sources for visibility in IDE
FOREACH(infileName ${${PROJECT_NAME}_HEADERS})
LIST(APPEND LIBRARY_SOURCES ${PROJECT_SOURCE_DIR}/${infileName})
ENDFOREACH(infileName)
ADD_LIBRARY(${LIBRARY_NAME}
SHARED
${LIBRARY_SOURCES}
)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-util)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
INSTALL(TARGETS ${LIBRARY_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
export(TARGETS ${LIBRARY_NAME}
NAMESPACE ${PROJECT_NAME}::
FILE ${CMAKE_BINARY_DIR}/${PROJECT_NAME}Targets.cmake)
......@@ -15,9 +15,6 @@
# You should have received a copy of the GNU Lesser General Public License
# along with hpp-pinocchio. If not, see <http://www.gnu.org/licenses/>.
# Add Boost path to include directories.
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
# Make Boost.Test generates the main function in test cases.
ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
......@@ -32,43 +29,29 @@ ADD_DEFINITIONS(-DTEST_DIRECTORY="${CMAKE_SOURCE_DIR}/tests/data")
# 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 (${GENERATED} STREQUAL TRUE)
ADD_UNIT_TEST(${NAME} ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.cc)
ELSE()
ADD_UNIT_TEST(${NAME} ${NAME}.cc)
ENDIF()
# Link against Boost and project library.
TARGET_LINK_LIBRARIES(${NAME}
${Boost_LIBRARIES}
${PROJECT_NAME})
PKG_CONFIG_USE_DEPENDENCY(${NAME} hpp-util)
PKG_CONFIG_USE_DEPENDENCY(${NAME} pinocchio)
MACRO(ADD_TESTCASE NAME)
ADD_UNIT_TEST(${NAME} ${NAME}.cc)
TARGET_LINK_LIBRARIES(${NAME} ${PROJECT_NAME} ${Boost_LIBRARIES})
ENDMACRO(ADD_TESTCASE)
MACRO(ADD_TESTCASE_CFLAGS target flag)
SET_PROPERTY(TARGET ${target} APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
ENDMACRO(ADD_TESTCASE_CFLAGS)
# --- LIST OF TESTS ------------------------------------------------------------
# --- LIST OF TESTS ------------------------------------------------------------
# --- LIST OF TESTS ------------------------------------------------------------
IF(ROMEO_DESCRIPTION_FOUND)
ADD_TESTCASE(frame FALSE)
ADD_TESTCASE(frame)
ENDIF(ROMEO_DESCRIPTION_FOUND)
ADD_TESTCASE(tconfiguration FALSE)
ADD_TESTCASE(device FALSE)
ADD_TESTCASE(urdf FALSE)
ADD_TESTCASE(liegroup-element FALSE)
ADD_TESTCASE(print FALSE)
ADD_TESTCASE(joint-bounds FALSE)
ADD_TESTCASE(tconfiguration)
ADD_TESTCASE(device)
ADD_TESTCASE(urdf)
ADD_TESTCASE(liegroup-element)
ADD_TESTCASE(print)
ADD_TESTCASE(joint-bounds)
FIND_PACKAGE(OpenMP)
IF(OPENMP_FOUND)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
ADD_TESTCASE(device-sync FALSE)
ADD_TESTCASE(device-sync)
ENDIF()
ADD_TESTCASE(pool FALSE)
ADD_TESTCASE(pool)
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