[CMake] Export

CMakeLists.txt

-# Copyright (c) 2015-2018, CNRS
-# Authors: Justin Carpentier <jcarpent@laas.fr>
+# Copyright (c) 2015-2020, CNRS
+# Authors: Justin Carpentier <jcarpent@laas.fr>, Guilhem Saurel
 
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
-SET(PROJECT_NAMESPACE loco-3d)
+# Project properties
+SET(PROJECT_ORG loco-3d)
 SET(PROJECT_NAME multicontact-api)
 SET(PROJECT_DESCRIPTION "API to define and store Contact phases and Contact Sequences")
-SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
+# Project options
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+
+# Project configuration
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(CMAKE_CXX_STANDARD 11)
+SET(CXX_DISABLE_WERROR TRUE)
+SET(DOXYGEN_USE_MATHJAX YES)
+
+# JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/ide.cmake)
-INCLUDE(cmake/test.cmake)
-
-SET(CMAKE_CXX_STANDARD 11)
-
-OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
-
-IF(INSTALL_PYTHON_INTERFACE_ONLY)
-  SET(INSTALL_DOCUMENTATION OFF CACHE BOOL "documentation is not in python interface")
-  SET(INSTALL_GENERATED_HEADERS OFF CACHE BOOL "headers are not in python interface")
-  SET(INSTALL_PKG_CONFIG_FILE OFF CACHE BOOL ".pc is not in python interface")
-ENDIF(INSTALL_PYTHON_INTERFACE_ONLY)
-
-SET(DOXYGEN_USE_MATHJAX YES)
-SET(CXX_DISABLE_WERROR True)
-SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
 
+# Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
-ADD_REQUIRED_DEPENDENCY("curves >= 0.3")
-
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.0.0")
+ADD_PROJECT_DEPENDENCY(curves REQUIRED PKG_CONFIG_REQUIRES "curves >= 0.3")
 SET(BOOST_COMPONENTS unit_test_framework serialization)
 
 IF(BUILD_PYTHON_INTERFACE)
-  ADD_REQUIRED_DEPENDENCY("eigenpy >= 1.6.12")
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
   FINDPYTHON()
+  STRING(REGEX REPLACE "-" "_" PY_NAME ${CUSTOM_HEADER_DIR})
+  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 1.6.12")
+  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
   INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
   STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
   SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
@@ -51,6 +51,16 @@ ENDIF(BUILD_PYTHON_INTERFACE)
 SEARCH_FOR_BOOST()
 INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
+# Main Library
+
+ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio curves::curves)
+
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

bindings/python/CMakeLists.txt

-# Copyright (c) 2015-2018, CNRS
-# Authors: Justin Carpentier <jcarpent@laas.fr>
+# Copyright (c) 2015-2020, CNRS
+# Authors: Justin Carpentier <jcarpent@laas.fr>, Guilhem Saurel
 
 SET(${PROJECT_NAME}_PYTHON_SOURCES
   module.cpp
@@ -14,16 +14,22 @@ SET(${PROJECT_NAME}_PYTHON_SOURCES
   )
 
 ADD_LIBRARY(${PY_NAME} SHARED ${${PROJECT_NAME}_PYTHON_SOURCES} ${${PROJECT_NAME}_PYTHON_HEADERS})
+
 ADD_SOURCE_GROUP(${PROJECT_NAME}_PYTHON_SOURCES)
-PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} eigenpy)
-PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} pinocchio)
-PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} curves)
-TARGET_LINK_LIBRARIES(${PY_NAME} ${Boost_SERIALIZATION_LIBRARIES})
+
+TARGET_LINK_LIBRARIES(${PY_NAME} ${PROJECT_NAME} ${Boost_SERIALIZATION_LIBRARIES} eigenpy::eigenpy)
 TARGET_LINK_BOOST_PYTHON(${PY_NAME})
-SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PY_NAME})
+
+SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PY_NAME} SOVERSION ${PROJECT_VERSION})
 TARGET_COMPILE_OPTIONS(${PY_NAME} PRIVATE "-Wno-conversion")
 TARGET_COMPILE_OPTIONS(${PY_NAME} PRIVATE "-Wno-enum-compare")
 
 INSTALL(TARGETS ${PY_NAME} DESTINATION  ${${PY_NAME}_INSTALL_DIR})
 
-ADD_SUBDIRECTORY(${PY_NAME})
+SET(${PROJECT_NAME}_PYTHON_FILES
+  __init__.py
+  )
+
+FOREACH(file ${${PROJECT_NAME}_PYTHON_FILES})
+  PYTHON_INSTALL_ON_SITE(${PY_NAME} ${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON_FILES})

bindings/python/multicontact_api/CMakeLists.txt

-SET(${PROJECT_NAME}_PYTHON_FILES
-  __init__.py
-  )
-
-FOREACH(PYTHON_FILE ${${PROJECT_NAME}_PYTHON_FILES})
-  PYTHON_BUILD(. ${PYTHON_FILE})
-  INSTALL(FILES ${PYTHON_FILE} DESTINATION ${${PY_NAME}_INSTALL_DIR})
-ENDFOREACH(PYTHON_FILE ${${PROJECT_NAME}_PYTHON_FILES})

cmake @ a5c65a0e

-Subproject commit 65e7f52151c93dd3bf4e0017a44c170d0547d060
+Subproject commit a5c65a0ee51191be3f2e2667b95830706c211bb2

unittest/CMakeLists.txt

-# Copyright (c) 2015-2018, CNRS
-# Authors: Justin Carpentier <jcarpent@laas.fr>
+# Copyright (c) 2015-2020, CNRS
+# Authors: Justin Carpentier <jcarpent@laas.fr>, Guilhem Saurel
 
 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
 
@@ -11,11 +11,9 @@ SET(${PROJECT_NAME}_TESTS
 
 FOREACH(TEST ${${PROJECT_NAME}_TESTS})
   ADD_UNIT_TEST(${TEST} ${TEST})
-  TARGET_LINK_LIBRARIES(${TEST} ${Boost_LIBRARIES})
-  PKG_CONFIG_USE_DEPENDENCY(${TEST} eigen3)
-  PKG_CONFIG_USE_DEPENDENCY(${TEST} pinocchio)
-  PKG_CONFIG_USE_DEPENDENCY(${TEST} curves)
+  TARGET_LINK_LIBRARIES(${TEST} ${PROJECT_NAME} ${Boost_LIBRARIES})
 ENDFOREACH(TEST ${${PROJECT_NAME}_TESTS})
+
 TARGET_COMPILE_DEFINITIONS(examples PRIVATE -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../examples/")
 
 IF(BUILD_PYTHON_INTERFACE)