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#
# Copyright (c) 2015-2016 CNRS
# Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
#
# This file is part of Pinocchio
# 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.
# 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
# Pinocchio If not, see
# <http://www.gnu.org/licenses/>.
MACRO(ADD_GROUP GROUP_NAME FILENAMES)
FOREACH(filename ${${FILENAMES}})
GET_FILENAME_COMPONENT(filenamePath ${filename} PATH)
IF(NOT (filenamePath STREQUAL ""))
STRING(REGEX REPLACE "/" "\\\\" filenamePath ${filenamePath})
SOURCE_GROUP("${GROUP_NAME}\\${filenamePath}" FILES ${filename})
ELSE()
SOURCE_GROUP("${GROUP_NAME}" FILES ${filename})
ENDIF()
ENDFOREACH()
ENDMACRO(ADD_GROUP)
MACRO(ADD_HEADER_GROUP FILENAMES)
ADD_GROUP("Header Files" ${FILENAMES})
ENDMACRO(ADD_HEADER_GROUP FILENAMES)
MACRO(ADD_SOURCE_GROUP FILENAMES)
ADD_GROUP("Source Files" ${FILENAMES})
ENDMACRO(ADD_SOURCE_GROUP FILENAMES)
MACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
FOREACH(header ${HEADERS})
GET_FILENAME_COMPONENT(headerName ${header} NAME)
GET_FILENAME_COMPONENT(headerPath ${header} PATH)
EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
${CMAKE_CURRENT_SOURCE_DIR}/${header}
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${SUBPATH}/${header})
INSTALL(FILES ${CMAKE_CURRENT_SOURCE_DIR}/${header}
DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/SUBPATH
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
ENDFOREACH(header)
ENDMACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
# --- DEPENDENCIES --- #
SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 1.3.1")
FOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
ADD_SEPARATE_DEPENDENCY(${dep})
ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
# --- LIBRARY --- #
SET(${PYWRAP}_INSTALL_DIR "${PYTHON_SITELIB}/${PROJECT_NAME}")
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SET(${PROJECT_NAME}_PYTHON_HEADERS
eigen_container.hpp
handler.hpp
python.hpp
se3.hpp
force.hpp
motion.hpp
inertia.hpp
joints-models.hpp
joints-variant.hpp
joint.hpp
joint-derived.hpp
frame.hpp
model.hpp
data.hpp
algorithm/algorithms.hpp
parsers.hpp
explog.hpp
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
parsers/python.hpp
)
SET(${PROJECT_NAME}_PARSER_PYTHON_SOURCES
parsers/python/model.cpp
)
SET(${PROJECT_NAME}_PYTHON_SOURCES
module.cpp
expose-SE3.cpp
expose-motion.cpp
expose-force.cpp
expose-inertia.cpp
expose-explog.cpp
expose-joints.cpp
expose-frame.cpp
expose-model.cpp
expose-data.cpp
expose-parsers.cpp
algorithm/expose-algorithms.cpp
algorithm/expose-com.cpp
algorithm/expose-kinematics.cpp
algorithm/expose-dynamics.cpp
algorithm/expose-crba.cpp
algorithm/expose-rnea.cpp
algorithm/expose-aba.cpp
algorithm/expose-jacobian.cpp
algorithm/expose-joints.cpp
algorithm/expose-energy.cpp
algorithm/expose-frames.cpp
algorithm/expose-cat.cpp
)
LIST(APPEND ${PROJECT_NAME}_PYTHON_HEADERS
geometry-object.hpp
geometry-model.hpp
geometry-data.hpp
)
LIST(APPEND ${PROJECT_NAME}_PYTHON_SOURCES
expose-geometry.cpp
algorithm/expose-geometry.cpp
)
LIST(APPEND HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
LIST(REMOVE_DUPLICATES HEADERS)
# Headers of the python binding
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm")
SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PYTHON_HEADERS}" "bindings/python")
# Headers of the python parser
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/python")
SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}" "")
# --- COMPILE WRAPPER
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES} ${${PROJECT_NAME}_PARSER_PYTHON_SOURCES})
SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS} ${${PROJECT_NAME}_PARSER_PYTHON_HEADERS})
ADD_LIBRARY(${PYWRAP} SHARED ${${PYWRAP}_SOURCES} ${${PYWRAP}_HEADERS})
ADD_HEADER_GROUP(${PYWRAP}_PYTHON_HEADERS)
ADD_SOURCE_GROUP(${PYWRAP}_PYTHON_SOURCES)
PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
TARGET_LINK_LIBRARIES(${PYWRAP} ${PROJECT_NAME})
TARGET_LINK_BOOST_PYTHON(${PYWRAP})
IF(APPLE)
# We need to change the extension for python bindings
SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES SUFFIX ".so")
ENDIF(APPLE)
SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/lib")
"${CMAKE_BINARY_DIR}/bindings/python/lib/lib${PYWRAP}.so"
DESTINATION ${${PYWRAP}_INSTALL_DIR})
# --- INSTALL SCRIPTS
SET(PYTHON_FILES
__init__.py
utils.py
robot_wrapper.py
romeo_wrapper.py
rpy.py
explog.py
)
FOREACH(python ${PYTHON_FILES})
GET_FILENAME_COMPONENT(pythonFile ${python} NAME)
EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
${${PROJECT_NAME}_SOURCE_DIR}/bindings/python/${python}
${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${pythonFile})
# Tag pyc file as generated.
SET_SOURCE_FILES_PROPERTIES(
"${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${pythonFile}c"
PROPERTIES GENERATED TRUE)
EXECUTE_PROCESS(COMMAND
${PYTHON_EXECUTABLE} -m py_compile
${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${pythonFile})
# Clean generated files.
SET_PROPERTY(
DIRECTORY APPEND PROPERTY
ADDITIONAL_MAKE_CLEAN_FILES
"${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${pythonFile}c")
"${${PROJECT_NAME}_SOURCE_DIR}/bindings/python/${python}"
"${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${pythonFile}c"
DESTINATION ${${PYWRAP}_INSTALL_DIR})
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# --- PACKAGING --- #
# Format string
SET(_PKG_CONFIG_PYWRAP_LIBDIR ${${PYWRAP}_INSTALL_DIR})
SET(_PKG_CONFIG_PYWRAP_BINDIR ${${PYWRAP}_INSTALL_DIR})
SET(_PKG_CONFIG_PYWRAP_CONFLICTS)
SET(_PKG_CONFIG_PYWRAP_REQUIRES "${PROJECT_NAME}")
FOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
SET(_PKG_CONFIG_PYWRAP_REQUIRES "${_PKG_CONFIG_PYWRAP_REQUIRES}, ${dep}")
ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
SET(_PKG_CONFIG_PYWRAP_LIBS "-L\${libdir} -l${PYWRAP}")
IF(APPLE)
SET(_PKG_CONFIG_PYWRAP_LIBS "${_PKG_CONFIG_PYWRAP_LIBS} -Wl,-undefined,dynamic_lookup,${Boost_${UPPERCOMPONENT}_LIBRARY}")
ELSE(APPLE)
SET(_PKG_CONFIG_PYWRAP_LIBS "${_PKG_CONFIG_PYWRAP_LIBS} ${LIBINCL_KW}boost_python")
ENDIF(APPLE)
SET(_PKG_CONFIG_PYWRAP_CFLAGS "-I\${includedir} -I/usr/local/include")
SET(_PKG_CONFIG_PYWRAP_CFLAGS "${_PKG_CONFIG_PYWRAP_CFLAGS} -I${PYTHON_INCLUDE_DIRS}")
FOREACH(cflags ${CFLAGS_DEPENDENCIES})
SET(_PKG_CONFIG_PYWRAP_CFLAGS "${_PKG_CONFIG_PYWRAP_CFLAGS} ${cflags}")
ENDFOREACH(cflags ${CFLAGS_DEPENDENCIES})
CONFIGURE_FILE(
"${CMAKE_CURRENT_SOURCE_DIR}/pinocchiopy.pc.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc")
INSTALL(
FILES "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc"
DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)