[CMake] use CMake Exports

CMakeLists.txt

 # Copyright 2010, 2019 JRL, CNRS/AIST, LAAS CNRS
 # See LICENSE file.
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
 SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME sot-core)
 SET(PROJECT_DESCRIPTION "Hierarchical task solver plug-in for dynamic-graph.")
 SET(PROJECT_URL "http://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
-OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
+OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
 OPTION(SUFFIX_SO_VERSION
   "Suffix shared library name by a string depending on git status of project"
   ON)
 
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   # Export CMake Target
   SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
@@ -37,14 +37,13 @@ IF(BUILD_PYTHON_INTERFACE)
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
   SET(PYTHON_INSTALL_DIR
     ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph/sot/core)
-  #ADD_PROJECT_DEPENDENCY(dynamic-graph-python 3.0.0 REQUIRED)
-  ADD_REQUIRED_DEPENDENCY(dynamic-graph-python 3.0.0 REQUIRED)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 3.0.0 REQUIRED PKG_CONFIG_REQUIRES "dynamic-graph-python >= 3.0.0")
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SET(BOOST_COMPONENTS
   python filesystem system thread program_options unit_test_framework)
 SEARCH_FOR_BOOST()
-ADD_PROJECT_DEPENDENCY(Eigen3)
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
 
 SET(DOXYGEN_USE_MATHJAX YES)
 
@@ -59,11 +58,11 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 # to avoid name collision when installing dynamic-graph in /usr.
 SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
 
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   # Extra macros for sot-core
   install(FILES "src/sot-coreMacros.cmake"
     DESTINATION "${CONFIG_INSTALL_DIR}")
-ENDIF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}
 include(\"\${CMAKE_CURRENT_LIST_DIR}/sot-coreMacros.cmake\")")
@@ -76,9 +75,8 @@ SET(BOOST_COMPONENTS
   thread filesystem program_options
   unit_test_framework system regex )
 
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
-
-ADD_REQUIRED_DEPENDENCY ("pinocchio >= 2.2.1")
+ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
+ADD_PROJECT_DEPENDENCY(pinocchio 2.3.1 REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.3.1")
 
 SEARCH_FOR_BOOST()
 
@@ -99,20 +97,22 @@ IF(BUILD_PYTHON_INTERFACE)
   TARGET_LINK_LIBRARIES(robot_utils_sot_py
     ${Boost_LIBRARIES}
     ${PYTHON_LIBRARIES} ${LIBRARY_NAME}
-    dynamic-graph::dynamic-graph)
-  PKG_CONFIG_USE_DEPENDENCY(robot_utils_sot_py pinocchio)
+    dynamic-graph::dynamic-graph
+    pinocchio::pinocchio
+    )
+  TARGET_INCLUDE_DIRECTORIES(robot_utils_sot_py PUBLIC pinocchio::pinocchio)
   TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py)
   INSTALL(TARGETS robot_utils_sot_py DESTINATION ${PYTHON_INSTALL_DIR})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 # We do not want the project to be finalized if this is
 # to install only the  python interface.
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   SETUP_PROJECT_PACKAGE_FINALIZE()
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 get_cmake_property(_variableNames VARIABLES)
-list (SORT _variableNames)
-foreach (_variableName ${_variableNames})
+list(SORT _variableNames)
+foreach(_variableName ${_variableNames})
     message(STATUS "${_variableName}=${${_variableName}}")
 endforeach()

cmake @ 4514454f

-Subproject commit 4cbe0f40bbc995fd561687c1a67cbb944388c060
+Subproject commit 4514454f5f9462047b5c29f61b6c3e0db731c416

src/CMakeLists.txt

 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
 
 # Verbosity level
-IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
   ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
 ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
 
-# The main include dir
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-
 #define DEBUG=2 if we're building in debug mode (what for?)
 IF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
   ADD_DEFINITIONS(-DDEBUG=2)
-ENDIF ("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
+ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
 
 IF(UNIX)
   ADD_DEFINITIONS(-pthread)
@@ -168,20 +165,13 @@ target_include_directories(${LIBRARY_NAME}
   $<INSTALL_INTERFACE:include>
 )
 
-IF (${SUFFIX_SO_VERSION})
+IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${LIBRARY_NAME}
     PROPERTIES
     SOVERSION ${PROJECT_VERSION})
 ENDIF()
 
-target_link_libraries(${LIBRARY_NAME} dynamic-graph::dynamic-graph)
-
-
-#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
-#IF(BUILD_PYTHON_INTERFACE)
-#  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
-#ENDIF(BUILD_PYTHON_INTERFACE)
+target_link_libraries(${LIBRARY_NAME} dynamic-graph::dynamic-graph pinocchio::pinocchio ${Boost_LIBRARIES})
 
 IF(UNIX)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
@@ -191,9 +181,7 @@ IF(UNIX AND NOT APPLE)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
 ENDIF(UNIX AND NOT APPLE)
 
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(TARGETS ${LIBRARY_NAME}
     EXPORT ${TARGETS_EXPORT_NAME}
     PUBLIC_HEADER
@@ -217,25 +205,23 @@ FOREACH(plugin ${plugins})
   #remove the "lib" prefix from the plugin output name
   SET_TARGET_PROPERTIES(${LIBRARY_NAME}
     PROPERTIES
-    PREFIX "")
-
-  SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-    PROPERTIES
+    PREFIX ""
     INSTALL_RPATH ${PLUGINDIR}
     )
-  IF (${SUFFIX_SO_VERSION})
+  IF(${SUFFIX_SO_VERSION})
     SET_TARGET_PROPERTIES(${LIBRARY_NAME}
       PROPERTIES
       SOVERSION ${PROJECT_VERSION}
       )
   ENDIF()
 
-  # Link with sot-core library
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${SOTCORE_LIB_NAME})
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph::dynamic-graph)
+  target_link_libraries(${LIBRARY_NAME}
+    ${SOTCORE_LIB_NAME}
+    ${Boost_LIBRARIES}
+    dynamic-graph::dynamic-graph
+    pinocchio::pinocchio)
 
-  ADD_DEPENDENCIES	 (${LIBRARY_NAME} ${SOTCORE_LIB_NAME})
+  ADD_DEPENDENCIES(${LIBRARY_NAME} ${SOTCORE_LIB_NAME})
 
   IF(ADDITIONAL_${LIBRARY_NAME}_LIBS)
     ADD_DEPENDENCIES(${LIBRARY_NAME} ${ADDITIONAL_${LIBRARY_NAME}_LIBS})
@@ -247,9 +233,6 @@ FOREACH(plugin ${plugins})
     TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
   ENDIF(UNIX)
 
-  #PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
-
   # build python submodule
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
@@ -268,7 +251,7 @@ FOREACH(plugin ${plugins})
       LIBRARY DESTINATION ${PLUGINDIR}
       )
   ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  
+
 ENDFOREACH(plugin)
 
 IF(BUILD_PYTHON_INTERFACE)
@@ -277,7 +260,7 @@ IF(BUILD_PYTHON_INTERFACE)
     ${NO_INSTALL_OF_INIT_PY})
 
   # Install empty __init__.py files in intermediate directories.
-  
+
   INSTALL(FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
     DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot

unitTesting/CMakeLists.txt

@@ -79,7 +79,7 @@ SET(TEST_test_madgwick_ahrs_LIBS
 
 
 #test paths and names (without .cpp extension)
-SET (tests
+SET(tests
   dummy
 
   control/test_control_pd
@@ -153,7 +153,7 @@ FOREACH(test ${tests})
   ADD_DEPENDENCIES     (${EXECUTABLE_NAME} ${PROJECT_NAME})
 
   IF( TEST_${EXECUTABLE_NAME}_INC )
-    PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} pinocchio)
+    TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} pinocchio::pinocchio)
   ENDIF(TEST_${EXECUTABLE_NAME}_INC)
 
   IF( TEST_${EXECUTABLE_NAME}_LIBS )
@@ -165,7 +165,7 @@ FOREACH(test ${tests})
     TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${TEST_${EXECUTABLE_NAME}_EXT_LIBS})
   ENDIF( TEST_${EXECUTABLE_NAME}_EXT_LIBS )
 
-  IF (UNIX)
+  IF(UNIX)
     TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${CMAKE_DL_LIBS})
   ENDIF(UNIX)
 
@@ -179,7 +179,7 @@ FOREACH(test ${tests})
   TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY})
   ADD_TEST(${test} ${EXECUTABLE_NAME})
 
-  IF (UNIX)
+  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}:${BOOST_ROOT}/lib:${EXTRA_LD_LIBRARY_PATH}")