diff --git a/CMakeLists.txt b/CMakeLists.txt
index 12a5e945b25eb29a07644ff77d42b2087a67be09..8c164619542e8c6474aa0540ae675f37c6a7a68e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,127 +1,108 @@
#
-# Copyright (c) 2014, 2020 CNRS
-# Authors: Florent Lamiraux, Guilhem Saurel
+# Copyright (c) 2014, 2020 CNRS Authors: Florent Lamiraux, Guilhem Saurel
#
+# This file is part of hpp_tutorial hpp_tutorial 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.
#
-# This file is part of hpp_tutorial
-# hpp_tutorial 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_tutorial 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_tutorial If not, see
-# <http://www.gnu.org/licenses/>.
+# hpp_tutorial 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_tutorial If not, see <http://www.gnu.org/licenses/>.
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
-SET(PROJECT_NAME hpp_tutorial)
-SET(PROJECT_DESCRIPTION "Tutorial for humanoid path planner platform.")
+set(PROJECT_NAME hpp_tutorial)
+set(PROJECT_DESCRIPTION "Tutorial for humanoid path planner platform.")
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CXX_DISABLE_WERROR TRUE)
-INCLUDE(cmake/hpp.cmake)
-INCLUDE(cmake/python.cmake)
+include(cmake/hpp.cmake)
+include(cmake/python.cmake)
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
-FINDPYTHON()
+findpython()
-ADD_PROJECT_DEPENDENCY("hpp-manipulation-corba" REQUIRED)
+add_project_dependency("hpp-manipulation-corba" REQUIRED)
-ADD_SUBDIRECTORY(src)
+add_subdirectory(src)
-SET(CATKIN_PACKAGE_SHARE_DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
+set(CATKIN_PACKAGE_SHARE_DESTINATION
+ ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
-install(FILES
- package.xml
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
- )
-install(FILES
- urdf/pr2.urdf
- urdf/box.urdf
- urdf/cup.urdf
- urdf/door.urdf
- urdf/kitchen_area.urdf
- urdf/box_color.urdf
- urdf/rod.urdf
- urdf/table.urdf
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
- )
-install(FILES
- srdf/pr2.srdf
- srdf/pr2_manipulation.srdf
- srdf/box.srdf
- srdf/cup.srdf
- srdf/kitchen_area.srdf
- srdf/rod.srdf
- srdf/door.srdf
- srdf/table.srdf
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
- )
-install(FILES
- meshes/box.dae
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
- )
-install (FILES
- src/hpp/corbaserver/pr2/robot.py
- src/hpp/corbaserver/pr2/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/pr2)
-install (FILES
- src/hpp/corbaserver/rod/robot.py
- src/hpp/corbaserver/rod/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rod)
-install (FILES
- src/hpp/corbaserver/manipulation/pr2/robot.py
- src/hpp/corbaserver/manipulation/pr2/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/pr2)
+install(FILES package.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(
+ FILES urdf/pr2.urdf
+ urdf/box.urdf
+ urdf/cup.urdf
+ urdf/door.urdf
+ urdf/kitchen_area.urdf
+ urdf/box_color.urdf
+ urdf/rod.urdf
+ urdf/table.urdf
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
+install(
+ FILES srdf/pr2.srdf
+ srdf/pr2_manipulation.srdf
+ srdf/box.srdf
+ srdf/cup.srdf
+ srdf/kitchen_area.srdf
+ srdf/rod.srdf
+ srdf/door.srdf
+ srdf/table.srdf
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf)
+install(FILES meshes/box.dae
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes)
+install(FILES src/hpp/corbaserver/pr2/robot.py
+ src/hpp/corbaserver/pr2/__init__.py
+ DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/pr2)
+install(FILES src/hpp/corbaserver/rod/robot.py
+ src/hpp/corbaserver/rod/__init__.py
+ DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rod)
+install(FILES src/hpp/corbaserver/manipulation/pr2/robot.py
+ src/hpp/corbaserver/manipulation/pr2/__init__.py
+ DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/pr2)
-INSTALL(FILES
- Media/models/meshes/glasses/__Color_A05_4.png
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/models/meshes/glasses
-)
+install(
+ FILES Media/models/meshes/glasses/__Color_A05_4.png
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/models/meshes/glasses)
-INSTALL(FILES
- Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
- Media/materials/textures/hinter_shopschraenken_an_saeule.png
- Media/materials/textures/wallpaper_ai_unihb.png
- Media/materials/textures/stove.png
- Media/materials/textures/ganz_links_vorn_bei_biolab.png
- Media/materials/textures/wallpaper2.png
- Media/materials/textures/ganz_links_neben_roboterplakat.png
- Media/materials/textures/auf_saeule_bei_shop.png
- Media/materials/textures/wallpaper_project_logos.png
- Media/materials/textures/wallpaper.png
- Media/materials/textures/sink.png
- Media/materials/textures/mittig_neben_roboterplakat.png
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/materials/textures
-)
+install(
+ FILES Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
+ Media/materials/textures/hinter_shopschraenken_an_saeule.png
+ Media/materials/textures/wallpaper_ai_unihb.png
+ Media/materials/textures/stove.png
+ Media/materials/textures/ganz_links_vorn_bei_biolab.png
+ Media/materials/textures/wallpaper2.png
+ Media/materials/textures/ganz_links_neben_roboterplakat.png
+ Media/materials/textures/auf_saeule_bei_shop.png
+ Media/materials/textures/wallpaper_project_logos.png
+ Media/materials/textures/wallpaper.png
+ Media/materials/textures/sink.png
+ Media/materials/textures/mittig_neben_roboterplakat.png
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/Media/materials/textures)
# Installation for documentation
-IF(INSTALL_DOCUMENTATION)
- install(FILES
- urdf/pr2.urdf
- urdf/box.urdf
+if(INSTALL_DOCUMENTATION)
+ install(
+ FILES urdf/pr2.urdf urdf/box.urdf
DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/urdf
- )
- install(FILES
- script/tutorial_1.py
- script/tutorial_2.py
- script/tutorial_3.py
+ ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/urdf)
+ install(
+ FILES script/tutorial_1.py script/tutorial_2.py script/tutorial_3.py
DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/script
- )
-ENDIF(INSTALL_DOCUMENTATION)
+ ${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}/doxygen-html/script)
+endif(INSTALL_DOCUMENTATION)
-ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+add_library(${PROJECT_NAME} INTERFACE)
+install(
+ TARGETS ${PROJECT_NAME}
+ EXPORT ${TARGETS_EXPORT_NAME}
+ DESTINATION lib)
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8088e4d1d2524e821e7813a93500e63d30cdfd26..1e91fa7a47562399748231c3281d2f7d6a4f0681 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,38 +1,31 @@
#
-# Copyright (c) 2019, 2020 CNRS
-# Authors: Joseph Mirabel, Guilhem Saurel
+# Copyright (c) 2019, 2020 CNRS Authors: Joseph Mirabel, Guilhem Saurel
#
+# This file is part of hpp_tutorial hpp_tutorial 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.
#
-# This file is part of hpp_tutorial
-# hpp_tutorial 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_tutorial 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_tutorial If not, see
-# <http://www.gnu.org/licenses/>.
-
+# hpp_tutorial 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_tutorial If not, see <http://www.gnu.org/licenses/>.
-### Tutorial 1
+# Tutorial 1
# Create and install executable running the corba server
-ADD_EXECUTABLE(hpp-tutorial-1 tutorial_1.cc)
+add_executable(hpp-tutorial-1 tutorial_1.cc)
# Link executable with hpp-corbaserver library
-TARGET_LINK_LIBRARIES(hpp-tutorial-1 hpp-core::hpp-core)
+target_link_libraries(hpp-tutorial-1 hpp-core::hpp-core)
# Install executable
-INSTALL(TARGETS hpp-tutorial-1 DESTINATION ${CMAKE_INSTALL_BINDIR})
-
+install(TARGETS hpp-tutorial-1 DESTINATION ${CMAKE_INSTALL_BINDIR})
-### Tutorial 2
+# Tutorial 2
# Create and install executable running the corba server
-ADD_EXECUTABLE(hpp-tutorial-2-server tutorial_2.cc)
+add_executable(hpp-tutorial-2-server tutorial_2.cc)
# Link executable with hpp-corbaserver library
-TARGET_LINK_LIBRARIES(hpp-tutorial-2-server hpp-corbaserver::hpp-corbaserver)
+target_link_libraries(hpp-tutorial-2-server hpp-corbaserver::hpp-corbaserver)
# Install executable
-INSTALL(TARGETS hpp-tutorial-2-server DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(TARGETS hpp-tutorial-2-server DESTINATION ${CMAKE_INSTALL_BINDIR})