Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
loco-3d
sot-talos-balance
Commits
a68c65b9
Commit
a68c65b9
authored
Mar 10, 2020
by
Guilhem Saurel
Browse files
[CMake] clean: keep minimal required instructions
parent
f90d9096
Changes
6
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
a68c65b9
# Copyright 2018, Gepetto team, LAAS-CNRS
#
CMAKE_MINIMUM_REQUIRED
(
VERSION 2.8
)
set
(
CMAKE_CXX_STANDARD 11
)
CMAKE_MINIMUM_REQUIRED
(
VERSION 3.1
)
SET
(
PROJECT_NAMESPACE loco-3d
)
# Project properties
SET
(
PROJECT_ORG loco-3d
)
SET
(
PROJECT_NAME sot-talos-balance
)
SET
(
PROJECT_DESCRIPTION
"Collection of dynamic-graph entities aimed at implementing balance control on talos."
)
SET
(
PROJECT_URL
"https://gepgitlab.laas.fr/
${
PROJECT_
NAMESPACE
}
/
${
PROJECT_NAME
}
"
)
SET
(
PROJECT_URL
"https://gepgitlab.laas.fr/
${
PROJECT_
ORG
}
/
${
PROJECT_NAME
}
"
)
# Export CMake Target
SET
(
PROJECT_USE_CMAKE_EXPORT TRUE
)
# 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
)
OPTION
(
INITIALIZE_WITH_NAN
"Initialize Eigen entries with NaN"
OFF
)
OPTION
(
BUILD_ROS_PACKAGES
"Build ros packages"
ON
)
# Disable -Werror on Unix for now.
SET
(
CXX_DISABLE_WERROR True
)
# Project configuration
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
SET
(
PROJECT_USE_CMAKE_EXPORT TRUE
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
SET
(
CUSTOM_HEADER_DIR
"sot/talos_balance"
)
SET
(
CXX_DISABLE_WERROR TRUE
)
SET
(
DOXYGEN_USE_MATHJAX YES
)
SET
(
CMAKE_CXX_STANDARD 11
)
# JRL-cmakemodule setup
INCLUDE
(
cmake/base.cmake
)
INCLUDE
(
cmake/boost.cmake
)
INCLUDE
(
cmake/eigen.cmake
)
INCLUDE
(
cmake/python.cmake
)
INCLUDE
(
cmake/test.cmake
)
# So that generated headers are in same place as standard ones
SET
(
CUSTOM_HEADER_DIR
"sot/talos_balance"
)
SET
(
DOXYGEN_USE_MATHJAX YES
)
# Project definition
COMPUTE_PROJECT_ARGS
(
PROJECT_ARGS LANGUAGES CXX C
)
PROJECT
(
${
PROJECT_NAME
}
${
PROJECT_ARGS
}
)
# Disable -Werror on Unix for now.
SET
(
CXX_DISABLE_WERROR True
)
SET
(
PKG_CONFIG_ADDITIONAL_VARIABLES
${
PKG_CONFIG_ADDITIONAL_VARIABLES
}
plugindirname
plugindir
)
CMAKE_POLICY
(
SET CMP0048 OLD
)
PROJECT
(
${
PROJECT_NAME
}
CXX
)
IF
(
WIN32
)
SET
(
LINK copy_if_different
)
ELSE
(
WIN32
)
SET
(
LINK create_symlink
)
ENDIF
(
WIN32
)
OPTION
(
INITIALIZE_WITH_NAN
"Initialize Eigen entries with NaN"
OFF
)
IF
(
INITIALIZE_WITH_NAN
)
MESSAGE
(
STATUS
"Initialize with NaN all the Eigen entries."
)
ADD_DEFINITIONS
(
-DEIGEN_INITIALIZE_MATRICES_BY_NAN
)
ENDIF
(
INITIALIZE_WITH_NAN
)
PKG_CONFIG_APPEND_LIBS
(
"sot-talos-balance"
)
# Search for dependencies.
# Boost
# Project dependencies
SET
(
BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex
)
OPTION
(
BUILD_ROS_PACKAGES
"Build ros packages"
ON
)
OPTION
(
BUILD_PYTHON_INTERFACE
"Build the python bindings"
ON
)
OPTION
(
INSTALL_PYTHON_INTERFACE_ONLY
"Install *ONLY* the python binding"
OFF
)
OPTION
(
BUILD_TEST
"Build tests"
ON
)
# name of the python module
IF
(
BUILD_PYTHON_INTERFACE
)
SET
(
SOTTALOSBALANCE_PYNAME sot_talos_balance
)
FINDPYTHON
()
STRING
(
REGEX REPLACE
"-"
"_"
PY_NAME
${
PROJECT_NAME
}
)
ADD_PROJECT_DEPENDENCY
(
dynamic-graph-python REQUIRED
PKG_CONFIG_REQUIRES dynamic-graph-python
)
SET
(
BOOST_COMPONENTS
${
BOOST_COMPONENTS
}
python
)
ADD_PROJECT_DEPENDENCY
(
dynamic-graph-python REQUIRED
)
SET
(
${
LIBRARY_NAME
}
_PYTHON_FILES python/*.py
)
SET
(
PYTHON_INSTALL_DIR
${
CMAKE_INSTALL_PREFIX
}
/
${
PYTHON_SITELIB
}
/
${
SOTTALOSBALANCE_PYNAME
}
)
INCLUDE_DIRECTORIES
(
${
PYTHON_INCLUDE_DIR
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
#SEARCH_FOR_BOOST()
#SEARCH_FOR_EIGEN()
SEARCH_FOR_BOOST
()
ADD_PROJECT_DEPENDENCY
(
dynamic-graph REQUIRED
)
# 3.4.0
ADD_PROJECT_DEPENDENCY
(
sot-core REQUIRED
)
#4.5.0
ADD_
REQUIRED
_DEPENDENCY
(
"pinocchio >= 2.1"
)
ADD_PROJECT_DEPENDENCY
(
sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core
)
ADD_PROJECT_DEPENDENCY
(
eiquadprog REQUIRED PKG_CONFIG_REQUIRES eiquadprog
)
ADD_
PROJECT
_DEPENDENCY
(
talos_data
)
ADD_REQUIRED_DEPENDENCY
(
"parametric-curves"
)
ADD_REQUIRED_DEPENDENCY
(
"eigen-quadprog"
)
IF
(
BUILD_TEST
)
ADD_REQUIRED_DEPENDENCY
(
"talos_data"
)
ENDIF
(
BUILD_TEST
)
SET
(
SOTTALOSBALANCE_LIB_NAME
${
PROJECT_NAME
}
)
SET
(
LIBRARY_NAME
${
SOTTALOSBALANCE_LIB_NAME
}
)
MACRO
(
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TARGETNAME
)
...
...
@@ -128,25 +98,16 @@ MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TA
FILE
(
MAKE_DIRECTORY
${
PROJECT_BINARY_DIR
}
/src/
${
FULLMODULENAME
}
)
# Link to python subfolder
EXECUTE_PROCESS
(
COMMAND
${
CMAKE_COMMAND
}
-E
${
LINK
}
${${
PROJECT_NAME
}
_BINARY_DIR
}
/src/
${
FULLMODULENAME
}
${${
PROJECT_NAME
}
_BINARY_DIR
}
/python/
${
FULLMODULENAME
}
)
SET_TARGET_PROPERTIES
(
${
PYTHON_MODULE
}
PROPERTIES PREFIX
""
OUTPUT_NAME
${
FULLMODULENAME
}
/wrap
)
CMAKE_POLICY
(
POP
)
TARGET_LINK_LIBRARIES
(
${
PYTHON_MODULE
}
${
PUBLIC_KEYWORD
}
"-Wl,--no-as-needed"
)
TARGET_LINK_LIBRARIES
(
${
PYTHON_MODULE
}
${
PUBLIC_KEYWORD
}
${
LIBRARYNAME
}
${
PYTHON_LIBRARY
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
Boost_LIBRARIES
}
)
TARGET_LINK_LIBRARIES
(
${
PYTHON_MODULE
}
${
PUBLIC_KEYWORD
}
"-Wl,--no-as-needed"
)
TARGET_LINK_LIBRARIES
(
${
PYTHON_MODULE
}
${
PUBLIC_KEYWORD
}
${
LIBRARYNAME
}
${
PYTHON_LIBRARY
}
)
INCLUDE_DIRECTORIES
(
${
PYTHON_INCLUDE_
PATH
}
)
TARGET_
INCLUDE_DIRECTORIES
(
${
PYTHON_MODULE
}
SYSTEM PRIVATE
${
PYTHON_INCLUDE_
DIRS
}
)
#
# Installation
...
...
@@ -181,16 +142,53 @@ MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TA
ENDMACRO
(
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE
)
MACRO
(
SOT_TALOS_BALANCE_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME
)
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE
(
"
${
SOTTALOSBALANCE_
PYNAME
}
"
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE
(
"
${
PY
_
NAME
}
"
"
${
SUBMODULENAME
}
"
"
${
LIBRARYNAME
}
"
"
${
TARGETNAME
}
"
)
ENDMACRO
(
SOT_TALOS_BALANCE_PYTHON_MODULE
)
# Verbosity level
IF
(
NOT
(
\"
${
CMAKE_VERBOSITY_LEVEL
}
\" STREQUAL \"\"
))
ADD_DEFINITIONS
(
-DVP_DEBUG_MODE=
${
CMAKE_VERBOSITY_LEVEL
}
-DVP_DEBUG
)
ENDIF
(
NOT
(
\"
${
CMAKE_VERBOSITY_LEVEL
}
\" STREQUAL \"\"
))
SET
(
${
LIBRARY_NAME
}
_HEADERS
include/
${
CUSTOM_HEADER_DIR
}
/utils/commands-helper.hh
include/
${
CUSTOM_HEADER_DIR
}
/utils/statistics.hh
include/
${
CUSTOM_HEADER_DIR
}
/math/fwd.hh
include/
${
CUSTOM_HEADER_DIR
}
/robot/fwd.hh
include/
${
CUSTOM_HEADER_DIR
}
/robot/robot-wrapper.hh
include/
${
CUSTOM_HEADER_DIR
}
/sdk_qualisys/Network.h
include/
${
CUSTOM_HEADER_DIR
}
/sdk_qualisys/RTPacket.h
include/
${
CUSTOM_HEADER_DIR
}
/sdk_qualisys/RTProtocol.h
include/
${
CUSTOM_HEADER_DIR
}
/sdk_qualisys/Markup.h
)
SET
(
${
PROJECT_NAME
}
_SOURCES
src/utils/statistics.cpp
src/robot/robot-wrapper.cpp
src/sdk_qualisys/Network.cpp
src/sdk_qualisys/RTPacket.cpp
src/sdk_qualisys/RTProtocol.cpp
src/sdk_qualisys/Markup.cpp
)
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
}
${
Boost_LIBRARIES
}
sot-core::sot-core
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PROJECT_NAME
}
parametric-curves
)
IF
(
SUFFIX_SO_VERSION
)
SET_TARGET_PROPERTIES
(
${
PROJECT_NAME
}
PROPERTIES SOVERSION
${
PROJECT_VERSION
}
)
ENDIF
(
SUFFIX_SO_VERSION
)
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
ADD_SUBDIRECTORY
(
include/
${
CUSTOM_HEADER_DIR
}
)
INSTALL
(
TARGETS
${
PROJECT_NAME
}
EXPORT
${
TARGETS_EXPORT_NAME
}
DESTINATION lib
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_SUBDIRECTORY
(
python
/
${
SOTTALOSBALANCE_PYNAME
}
)
ADD_SUBDIRECTORY
(
python
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
ADD_SUBDIRECTORY
(
src
)
...
...
@@ -199,6 +197,11 @@ IF(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
ADD_SUBDIRECTORY
(
ros
)
ENDIF
(
BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY
)
IF
(
BUILD_TEST
)
IF
(
BUILD_TEST
ING
)
ADD_SUBDIRECTORY
(
unittest
)
ENDIF
(
BUILD_TEST
)
ENDIF
(
BUILD_TESTING
)
PKG_CONFIG_APPEND_LIBS
(
${
PROJECT_NAME
}
)
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
INSTALL
(
FILES package.xml DESTINATION share/
${
PROJECT_NAME
}
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
cmake
@
321eb1cc
Compare
54ece258
...
321eb1cc
Subproject commit
54ece258eed16da94c7f10979588fcb47b744eb8
Subproject commit
321eb1ccf1d94570eb564f3659b13ef3ef82239e
include/sot/talos_balance/CMakeLists.txt
deleted
100644 → 0
View file @
f90d9096
SET
(
${
LIBRARY_NAME
}
_HEADERS
utils/commands-helper.hh
utils/statistics.hh
math/fwd.hh
robot/fwd.hh
robot/robot-wrapper.hh
sdk_qualisys/Network.h
sdk_qualisys/RTPacket.h
sdk_qualisys/RTProtocol.h
sdk_qualisys/Markup.h
)
INSTALL
(
FILES
${${
LIBRARY_NAME
}
_HEADERS
}
DESTINATION include/
${
CUSTOM_HEADER_DIR
}
)
python/
sot_talos_balance/
CMakeLists.txt
→
python/CMakeLists.txt
View file @
a68c65b9
...
...
@@ -10,8 +10,7 @@ SET(${PROJECT_NAME}_PYTHON_FILES
)
FOREACH
(
python
${${
PROJECT_NAME
}
_PYTHON_FILES
}
)
PYTHON_BUILD
(
.
${
python
}
)
INSTALL
(
FILES
${
python
}
DESTINATION
${
PYTHON_SITELIB
}
/
${
SOTTALOSBALANCE_PYNAME
}
)
PYTHON_INSTALL_ON_SITE
(
${
PY_NAME
}
${
python
}
)
ENDFOREACH
(
python
${${
PROJECT_NAME
}
_PYTHON_FILES
}
)
# utils submodule
...
...
@@ -26,8 +25,7 @@ SET(${PROJECT_NAME}_UTILS_PYTHON_FILES
)
FOREACH
(
python
${${
PROJECT_NAME
}
_UTILS_PYTHON_FILES
}
)
PYTHON_BUILD
(
utils
${
python
}
)
INSTALL
(
FILES utils/
${
python
}
DESTINATION
${
PYTHON_SITELIB
}
/
${
SOTTALOSBALANCE_PYNAME
}
/utils
)
PYTHON_INSTALL_ON_SITE
(
${
PY_NAME
}
/utils
${
python
}
)
ENDFOREACH
(
python
${${
PROJECT_NAME
}
_UTILS_PYTHON_FILES
}
)
...
...
@@ -55,11 +53,52 @@ SET(${PROJECT_NAME}_TALOS_PYTHON_FILES
)
FOREACH
(
python
${${
PROJECT_NAME
}
_TALOS_PYTHON_FILES
}
)
PYTHON_BUILD
(
talos
${
python
}
)
INSTALL
(
FILES talos/
${
python
}
DESTINATION
${
PYTHON_SITELIB
}
/
${
SOTTALOSBALANCE_PYNAME
}
/talos
)
PYTHON_INSTALL_ON_SITE
(
${
PY_NAME
}
/talos
${
python
}
)
ENDFOREACH
(
python
${${
PROJECT_NAME
}
_TALOS_PYTHON_FILES
}
)
IF
(
BUILD_TEST
)
ADD_SUBDIRECTORY
(
test
)
ENDIF
(
BUILD_TEST
)
# simulation files
SET
(
${
PROJECT_NAME
}
_SIMULATION_FILES
__init__.py
test_dcm_zmp_control.py
appli_dcm_zmp_control.py
test_dcm_zmp_control_distribute.py
appli_dcm_zmp_control_distribute.py
test_dcm_zmp_control_ffdc.py
appli_dcm_zmp_control_ffdc.py
test_ffSubscriber.py
appli_ffSubscriber.py
test_zmpEstimator.py
appli_zmpEstimator.py
test_dcmComControl.py
appli_dcmComControl.py
test_dcmComZmpControl.py
appli_dcmComZmpControl.py
test_dcmZmpControl.py
appli_dcmZmpControl.py
test_dcmZmpControl_file.py
appli_dcmZmpControl_file.py
test_comAdmittance.py
test_admittance_single_joint.py
appli_admittance_single_joint.py
test_admittance_end_effector.py
appli_admittance_end_effector.py
test_simple_ankle_admittance.py
appli_simple_ankle_admittance.py
test_admittance_single_joint_velocity_based.py
appli_admittance_single_joint_velocity_based.py
test_singleTraj.py
test_jointTrajGen.py
test_jointControl.py
test_COMTraj.py
appli_COMTraj.py
test_COMTraj_tracer.py
test_param_server.py
test_dcm_estimator.py
appli_dcm_estimator.py
test_hip_flexibility_compensation.py
appli_hip_flexibility_compensation.py
)
FOREACH
(
python
${${
PROJECT_NAME
}
_SIMULATION_FILES
}
)
PYTHON_INSTALL_ON_SITE
(
${
PY_NAME
}
/test
${
python
}
)
ENDFOREACH
(
python
${${
PROJECT_NAME
}
_SIMULATION_FILES
}
)
src/CMakeLists.txt
View file @
a68c65b9
# Copyright 2018, Gepetto team, LAAS-CNRS
# Verbosity level
IF
(
NOT
(
\"
${
CMAKE_VERBOSITY_LEVEL
}
\" STREQUAL \"\"
))
ADD_DEFINITIONS
(
-DVP_DEBUG_MODE=
${
CMAKE_VERBOSITY_LEVEL
}
-DVP_DEBUG
)
ENDIF
(
NOT
(
\"
${
CMAKE_VERBOSITY_LEVEL
}
\" STREQUAL \"\"
))
IF
(
UNIX
)
ADD_DEFINITIONS
(
-pthread
)
ENDIF
(
UNIX
)
SET
(
${
LIBRARY_NAME
}
_SOURCES
utils/statistics.cpp
robot/robot-wrapper.cpp
sdk_qualisys/Network.cpp
sdk_qualisys/RTPacket.cpp
sdk_qualisys/RTProtocol.cpp
sdk_qualisys/Markup.cpp
)
ADD_LIBRARY
(
${
LIBRARY_NAME
}
SHARED
${${
LIBRARY_NAME
}
_SOURCES
}
)
SET_TARGET_PROPERTIES
(
${
LIBRARY_NAME
}
PROPERTIES
SOVERSION
${
PROJECT_VERSION
}
INSTALL_RPATH
${
CMAKE_INSTALL_PREFIX
}
/
${
CMAKE_INSTALL_LIBDIR
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
dynamic-graph::dynamic-graph
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
sot-core::sot-core
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
pinocchio
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
parametric-curves
)
IF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
CMAKE_DL_LIBS
}
)
IF
(
NOT APPLE
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
pthread
)
ENDIF
(
NOT APPLE
)
ENDIF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
Boost_LIBRARIES
}
)
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
INSTALL
(
TARGETS
${
LIBRARY_NAME
}
DESTINATION
${
CMAKE_INSTALL_LIBDIR
}
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
#This project will create many plugins as shared libraries, listed here
SET
(
plugins
example
delay
...
...
@@ -87,77 +42,36 @@ SET(plugins
hip-flexibility-compensation
)
#set(
ADDITIONAL_
feature-task_
LIBS
feature-generic task)
#
set(feature-task_
deps
feature-generic task)
#Plugins compilation, link, and installation
#Compiles a plugin. The plugin library is ${LIBRARY_NAME}
FOREACH
(
plugin
${
plugins
}
)
#retrieve plugin name
GET_FILENAME_COMPONENT
(
LIBRARY_NAME
${
plugin
}
NAME
)
ADD_LIBRARY
(
${
LIBRARY_NAME
}
SHARED
${
plugin
}
)
# only one source file per plugin
ADD_LIBRARY
(
${
LIBRARY_NAME
}
SHARED
${
plugin
}
.cpp
)
#remove the "lib" prefix from the plugin output name
SET_TARGET_PROPERTIES
(
${
LIBRARY_NAME
}
PROPERTIES
PREFIX
""
)
SET_TARGET_PROPERTIES
(
${
LIBRARY_NAME
}
PROPERTIES
SOVERSION
${
PROJECT_VERSION
}
INSTALL_RPATH
${
CMAKE_INSTALL_LIBDIR
}
/plugin
)
# Link with sot-talos-balance library
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
SOTTALOSBALANCE_LIB_NAME
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
Boost_LIBRARIES
}
)
ADD_DEPENDENCIES
(
${
LIBRARY_NAME
}
${
SOTTALOSBALANCE_LIB_NAME
}
)
IF
(
ADDITIONAL_
${
LIBRARY_NAME
}
_LIBS
)
ADD_DEPENDENCIES
(
${
LIBRARY_NAME
}
${
ADDITIONAL_
${
LIBRARY_NAME
}
_LIBS
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
ADDITIONAL_
${
LIBRARY_NAME
}
_LIBS
}
)
ENDIF
(
ADDITIONAL_
${
LIBRARY_NAME
}
_LIBS
)
IF
(
SUFFIX_SO_VERSION
)
SET_TARGET_PROPERTIES
(
${
LIBRARY_NAME
}
PROPERTIES SOVERSION
${
PROJECT_VERSION
}
)
ENDIF
(
SUFFIX_SO_VERSION
)
# Linux dynamic loading library flags
IF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
CMAKE_DL_LIBS
}
)
IF
(
NOT APPLE
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
dl pthread
)
ENDIF
(
NOT APPLE
)
ENDIF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
PROJECT_NAME
}
${${
LIBRARY_NAME
}
_deps
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
dynamic-graph::dynamic-graph
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
sot-core::sot-core
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
pinocchio
)
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
INSTALL
(
TARGETS
${
LIBRARY_NAME
}
EXPORT
${
TARGETS_EXPORT_NAME
}
DESTINATION
${
DYNAMIC_GRAPH_PLUGINDIR
}
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
# build python submodule
# (replace minus with underscore to make Python happy)
IF
(
BUILD_PYTHON_INTERFACE
)
STRING
(
REPLACE - _ PYTHON_LIBRARY_NAME
${
LIBRARY_NAME
}
)
SOT_TALOS_BALANCE_PYTHON_MODULE
(
${
PYTHON_LIBRARY_NAME
}
${
LIBRARY_NAME
}
sot-talos-balance-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
SOT_TALOS_BALANCE_PYTHON_MODULE
(
${
PYTHON_LIBRARY_NAME
}
${
LIBRARY_NAME
}
${
PROJECT_NAME
}
-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
# Install plugins
IF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
INSTALL
(
TARGETS
${
LIBRARY_NAME
}
DESTINATION
${
CMAKE_INSTALL_LIBDIR
}
/plugin
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
ENDFOREACH
(
plugin
)
# Bindings Python
IF
(
BUILD_PYTHON_INTERFACE
)
SOT_TALOS_BALANCE_PYTHON_MODULE
(
""
${
SOTTALOSBALANCE_LIB
_NAME
}
wrap
)
SOT_TALOS_BALANCE_PYTHON_MODULE
(
""
${
PROJECT
_NAME
}
wrap
)
# Install empty __init__.py files in intermediate directories.
INSTALL
(
FILES
${
CMAKE_CURRENT_BINARY_DIR
}
/
${
SOTTALOSBALANCE_
PYNAME
}
/__init__.py
DESTINATION
${
PYTHON_SITELIB
}
/
${
SOTTALOSBALANCE_
PYNAME
}
${
CMAKE_CURRENT_BINARY_DIR
}
/
${
PY
_
NAME
}
/__init__.py
DESTINATION
${
PYTHON_SITELIB
}
/
${
PY
_
NAME
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
unittest/CMakeLists.txt
View file @
a68c65b9
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
# Relative plug-in directory (i.e. lib/plugin for instance)
# as exposed by the dynamic-graph pkg-config file.
SET
(
PLUGINDIR
${
DYNAMIC_GRAPH_PLUGINDIRNAME
}
)
SET
(
FULLPLUGINDIR
${
CMAKE_INSTALL_PREFIX
}
/
${
PLUGINDIR
}
)
SET
(
SOT_PLUGIN_OUT_DIR
${
CMAKE_BINARY_DIR
}
/src
)
CONFIG_FILES_CMAKE
(
test-paths.h
)
IF
(
UNIX
)
ADD_DEFINITIONS
(
-pthread
)
ENDIF
(
UNIX
)
# Make Boost.Test generates the main function in test cases.
ADD_DEFINITIONS
(
-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN
)
# Definition of a macro that corresponds to the suffix for a dynamic lib
ADD_DEFINITIONS
(
-DTESTS_DYNLIBSUFFIX=
"
${
CMAKE_SHARED_LIBRARY_SUFFIX
}
"
)
# The sot-core plugin libraries that tests have to be linked against
# the name of the variable for test EXECUTABLE_NAME is
# TEST_${EXECUTABLE_NAME}_LIBS
SET
(
TEST_test_distribute_LIBS
SET
(
test_distribute_deps
distribute-wrench
)
SET
(
TEST_test_distribute_EXT_LIBS
sot-core::sot-core
${
SOT_CORE_LIBDIR
}
/plugin/parameter-server.so
sot-core::sot-core parameter-server
)
#test paths and names (without .cpp extension)
SET
(
tests
SET
(
tests
dummy
test_distribute
)
#IF(UNIX)
# ADD_LIBRARY(pluginabstract
# SHARED
# tools/plugin.cc)
# ADD_EXECUTABLE(test_abstract_interface
# tools/test_abstract_interface.cpp
# )
# TARGET_LINK_LIBRARIES(test_abstract_interface
# pluginabstract ${CMAKE_DL_LIBS} ${Boost_LIBRARIES})
# LINK_DIRECTORIES(${SOT_PLUGIN_OUT_DIR} ${FULLPLUGINDIR})
#ENDIF(UNIX)
IF
(
UNIX
)
LINK_DIRECTORIES
(
${
CMAKE_INSTALL_PREFIX
}
/lib/plugin
)
LINK_DIRECTORIES
(
${
DYNAMIC_GRAPH_PLUGINDIR
}
)
ENDIF
(
UNIX
)
ADD_DEFINITIONS
(
-DDEBUG=2
)
# Add MatrixAbstractLayer compilation flags
INCLUDE_DIRECTORIES
(
${
CMAKE_SOURCE_DIR
}
/include
)
INCLUDE_DIRECTORIES
(
${
CMAKE_BINARY_DIR
}
/unittest
)
FOREACH
(
test
${
tests
}
)
GET_FILENAME_COMPONENT
(
EXECUTABLE_NAME
${
test
}
NAME
)
ADD_EXECUTABLE
(
${
EXECUTABLE_NAME
}
${
test
}
.cpp
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
${
PROJECT_NAME
}
)
ADD_DEPENDENCIES
(
${
EXECUTABLE_NAME
}
${
PROJECT_NAME
}
)
IF
(
TEST_
${
EXECUTABLE_NAME
}
_LIBS
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
${
TEST_
${
EXECUTABLE_NAME
}
_LIBS
}
)
ADD_DEPENDENCIES
(
${
EXECUTABLE_NAME
}
${
TEST_
${
EXECUTABLE_NAME
}
_LIBS
}
)
ENDIF
(
TEST_
${
EXECUTABLE_NAME
}
_LIBS
)
IF
(
TEST_
${
EXECUTABLE_NAME
}
_EXT_LIBS
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
${
TEST_
${
EXECUTABLE_NAME
}
_EXT_LIBS
}
)
ENDIF
(
TEST_
${
EXECUTABLE_NAME
}
_EXT_LIBS
)
IF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
${
CMAKE_DL_LIBS
}
)
ENDIF
(
UNIX
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
dynamic-graph::dynamic-graph
)
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
pinocchio
)
IF
(
BUILD_PYTHON_INTERFACE
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
dynamic-graph-python::dynamic-graph-python
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
# Link against Boost.
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
${
Boost_LIBRARIES
}
${
Boost_SYSTEM_LIBRARY
}
)
ADD_TEST
(
${
test
}
${
EXECUTABLE_NAME
}
)
IF
(
UNIX
)
SET
(
EXTRA_LD_LIBRARY_PATH $ENV{LD_LIBRARY_PATH}
)
SET_PROPERTY
(
TEST
${
test
}
PROPERTY
ENVIRONMENT
"LD_LIBRARY_PATH=
${
CMAKE_BINARY_DIR
}
/src:
${
CMAKE_INSTALL_PREFIX
}
/
${
CMAKE_INSTALL_LIBDIR
}
:
${
CMAKE_INSTALL_PREFIX
}
/
${
CMAKE_INSTALL_LIBDIR
}
/plugin:
${
BOOST_ROOT
}
/lib:
${
EXTRA_LD_LIBRARY_PATH
}
"
)
ENDIF
(
UNIX
)
ADD_UNIT_TEST
(
${
test
}
${
test
}
.cpp
)
TARGET_LINK_LIBRARIES
(
${
test
}
${
PROJECT_NAME
}
${${
test
}
_deps
}
)
TARGET_INCLUDE_DIRECTORIES
(
${
test
}
PRIVATE $<BUILD_INTERFACE:
${
CMAKE_CURRENT_BINARY_DIR
}
>
)
ENDFOREACH
(
test
)
IF
(
BUILD_PYTHON_INTERFACE
)
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment
