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
Stack Of Tasks
pinocchio
Commits
15a716df
Verified
Commit
15a716df
authored
Feb 15, 2020
by
Justin Carpentier
Browse files
cmake: rework flags
parent
4696aa4b
Changes
4
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
15a716df
...
...
@@ -61,12 +61,16 @@ OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the Automatic Differe
OPTION
(
BUILD_WITH_CASADI_SUPPORT
"Build the library with the CASADI support"
OFF
)
OPTION
(
BUILD_WITH_CODEGEN_SUPPORT
"Build the library with the Code Generation support"
OFF
)
OPTION
(
INITIALIZE_WITH_NAN
"Initialize Eigen entries with NaN"
OFF
)
OPTION
(
INITIALIZE_WITH_NAN
"Initialize Eigen entries with NaN"
OFF
)
IF
(
INITIALIZE_WITH_NAN
)
SET
(
BUILD_WITH_HPP_FCL_SUPPORT
${
BUILD_WITH_COLLISION_SUPPORT
}
)
SET
(
BUILD_WITH_CPPAD_SUPPORT
${
BUILD_WITH_AUTODIFF_SUPPORT
}
)
SET
(
BUILD_WITH_CPPAD_CODEGEN_SUPPORT
${
BUILD_WITH_CODEGEN_SUPPORT
}
)
IF
(
INITIALIZE_WITH_NAN
)
MESSAGE
(
STATUS
"Initialize with NaN all the Eigen entries."
)
ADD_DEFINITIONS
(
-DEIGEN_INITIALIZE_MATRICES_BY_NAN
)
ENDIF
(
INITIALIZE_WITH_NAN
)
ENDIF
(
INITIALIZE_WITH_NAN
)
MACRO
(
TAG_LIBRARY_VERSION target
)
SET_TARGET_PROPERTIES
(
${
target
}
PROPERTIES SOVERSION
${
PROJECT_VERSION
}
)
...
...
@@ -81,17 +85,21 @@ ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
IF
(
BUILD_WITH_URDF_SUPPORT
)
ADD_REQUIRED_DEPENDENCY
(
"urdfdom >= 0.2.0"
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_URDFDOM
)
LIST
(
APPEND CFLAGS_DEPENDENCIES
"-DPINOCCHIO_WITH_URDFDOM"
)
ENDIF
(
BUILD_WITH_URDF_SUPPORT
)
IF
(
BUILD_WITH_COLLISION_SUPPORT
)
IF
(
BUILD_WITH_HPP_FCL_SUPPORT
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_HPP_FCL
)
LIST
(
APPEND CFLAGS_DEPENDENCIES
"-DPINOCCHIO_WITH_HPP_FCL"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-fcl >= 1.0.0"
)
ENDIF
(
BUILD_WITH_
COLLISION
_SUPPORT
)
ENDIF
(
BUILD_WITH_
HPP_FCL
_SUPPORT
)
IF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
ADD_REQUIRED_DEPENDENCY
(
"cppad >= 20180000.0"
)
ENDIF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
IF
(
CPPAD_FOUND AND
BUILD_WITH_AUTODIFF_SUPPORT
)
IF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_CPPAD_SUPPORT
)
PKG_CONFIG_APPEND_CFLAGS
(
"-DPINOCCHIO_WITH_CPPAD_SUPPORT"
)
IF
(
NOT
${
CPPAD_VERSION
}
VERSION_GREATER
"3.3.0"
)
...
...
@@ -100,13 +108,13 @@ IF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
ENDIF
(
NOT
${
CPPAD_VERSION
}
VERSION_GREATER
"3.3.0"
)
IF
(
BUILD_WITH_CODEGEN_SUPPORT
)
ADD_
OPTIONAL
_DEPENDENCY
(
"cppadcg"
)
ADD_
REQUIRED
_DEPENDENCY
(
"cppadcg"
)
ENDIF
(
BUILD_WITH_CODEGEN_SUPPORT
)
IF
(
CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_CPPADCG_SUPPORT
)
PKG_CONFIG_APPEND_CFLAGS
(
"-DPINOCCHIO_WITH_CPPADCG_SUPPORT"
)
ENDIF
(
CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT
)
ENDIF
(
CPPAD_FOUND AND
BUILD_WITH_AUTODIFF_SUPPORT
)
ENDIF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
IF
(
BUILD_WITH_CASADI_SUPPORT
)
ADD_REQUIRED_DEPENDENCY
(
"casadi >= 3.4.5"
)
...
...
@@ -118,7 +126,7 @@ IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
ENDIF
(
CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT
)
# Special care of urdfdom version
IF
(
URDFDOM_FOUND AND
BUILD_WITH_URDF_SUPPORT
)
IF
(
BUILD_WITH_URDF_SUPPORT
)
IF
(
${
URDFDOM_VERSION
}
VERSION_LESS
"0.3.0"
)
ADD_DEFINITIONS
(
-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
)
PKG_CONFIG_APPEND_CFLAGS
(
"-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME"
)
...
...
@@ -135,7 +143,7 @@ IF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
ADD_DEFINITIONS
(
-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
)
PKG_CONFIG_APPEND_CFLAGS
(
"-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR"
)
ENDIF
(
${
URDFDOM_VERSION
}
VERSION_GREATER
"0.4.2"
)
ENDIF
(
URDFDOM_FOUND AND
BUILD_WITH_URDF_SUPPORT
)
ENDIF
(
BUILD_WITH_URDF_SUPPORT
)
SET
(
BOOST_REQUIRED_COMPONENTS filesystem serialization system
)
SET
(
BOOST_BUILD_COMPONENTS unit_test_framework
)
...
...
@@ -144,7 +152,6 @@ SET(BOOST_OPTIONAL_COMPONENTS "")
IF
(
BUILD_PYTHON_INTERFACE
)
SET
(
BOOST_OPTIONAL_COMPONENTS
${
BOOST_OPTIONAL_COMPONENTS
}
python
)
FINDPYTHON
()
INCLUDE_DIRECTORIES
(
SYSTEM
${
PYTHON_INCLUDE_DIRS
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
SET
(
BOOST_COMPONENTS
${
BOOST_REQUIRED_COMPONENTS
}
${
BOOST_OPTIONAL_COMPONENTS
}
${
BOOST_BUILD_COMPONENTS
}
)
...
...
@@ -170,10 +177,7 @@ FILE(GLOB_RECURSE HEADERS
${
PROJECT_SOURCE_DIR
}
/src/*.hxx
)
IF
(
URDFDOM_FOUND
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_URDFDOM
)
LIST
(
APPEND CFLAGS_DEPENDENCIES
"-DPINOCCHIO_WITH_URDFDOM"
)
ELSE
(
URDFDOM_FOUND
)
IF
(
NOT BUILD_WITH_URDF_SUPPORT
)
LIST
(
REMOVE_ITEM HEADERS
${
PROJECT_SOURCE_DIR
}
/src/parsers/urdf.hpp
${
PROJECT_SOURCE_DIR
}
/src/parsers/urdf/model.hxx
...
...
@@ -181,17 +185,13 @@ ELSE(URDFDOM_FOUND)
${
PROJECT_SOURCE_DIR
}
/src/parsers/urdf/utils.hpp
${
PROJECT_SOURCE_DIR
}
/src/parsers/urdf/types.hpp
)
ENDIF
(
URDFDOM_FOUND
)
ENDIF
(
NOT BUILD_WITH_URDF_SUPPORT
)
IF
(
HPP_FCL_FOUND
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_HPP_FCL
)
LIST
(
APPEND CFLAGS_DEPENDENCIES
"-DPINOCCHIO_WITH_HPP_FCL"
)
ELSE
(
HPP_FCL_FOUND
)
IF
(
NOT BUILD_WITH_HPP_FCL_SUPPORT
)
LIST
(
REMOVE_ITEM HEADERS
${
PROJECT_SOURCE_DIR
}
/src/spatial/fcl-pinocchio-conversions.hpp
)
ENDIF
(
HPP_FCL_
FOUND
)
ENDIF
(
NOT BUILD_WITH_
HPP_FCL_
SUPPORT
)
LIST
(
APPEND HEADERS macros.hpp
)
...
...
bindings/python/CMakeLists.txt
View file @
15a716df
...
...
@@ -30,6 +30,7 @@ ENDFUNCTION(REMOVE_PATH_FROM_LIST)
# --- PYTHON TARGET --- #
IF
(
BUILD_PYTHON_INTERFACE
)
INCLUDE_DIRECTORIES
(
SYSTEM
${
PYTHON_INCLUDE_DIRS
}
)
ADD_CUSTOM_TARGET
(
python
)
SET_TARGET_PROPERTIES
(
python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True
)
...
...
@@ -76,7 +77,7 @@ REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURC
REMOVE_PATH_FROM_LIST
(
"
${${
PROJECT_NAME
}
_PYTHON_SOURCES
}
"
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/"
${
PROJECT_NAME
}
_PYTHON_SOURCES
)
# Python exposition of FCL
IF
(
NOT HPP_FCL_
FOUND
)
IF
(
NOT
BUILD_WITH_
HPP_FCL_
SUPPORT
)
LIST
(
REMOVE_ITEM
${
PROJECT_NAME
}
_PYTHON_HEADERS
multibody/fcl/contact.hpp
multibody/fcl/collision-result.hpp
...
...
@@ -89,7 +90,7 @@ IF(NOT HPP_FCL_FOUND)
LIST
(
REMOVE_ITEM
${
PROJECT_NAME
}
_PYTHON_SOURCES
multibody/fcl/expose-fcl.cpp
)
ENDIF
(
NOT HPP_FCL_
FOUND
)
ENDIF
(
NOT
BUILD_WITH_
HPP_FCL_
SUPPORT
)
LIST
(
APPEND HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
)
...
...
@@ -98,9 +99,9 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python"
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/spatial"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/multibody"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/multibody/joint"
)
IF
(
HPP_FCL_
FOUND
)
IF
(
NOT BUILD_WITH_
HPP_FCL_
SUPPORT
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/multibody/fcl"
)
ENDIF
(
HPP_FCL_
FOUND
)
ENDIF
(
NOT BUILD_WITH_
HPP_FCL_
SUPPORT
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/parsers"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/serialization"
)
MAKE_DIRECTORY
(
"
${${
PROJECT_NAME
}
_BINARY_DIR
}
/include/pinocchio/bindings/python/algorithm"
)
...
...
unittest/CMakeLists.txt
View file @
15a716df
...
...
@@ -76,6 +76,7 @@ ENDIF(URDFDOM_FOUND)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_PINOCCHIO_UNIT_TEST
(
python_parser eigenpy
)
TARGET_INCLUDE_DIRECTORIES
(
test-cpp-python_parser SYSTEM PUBLIC
${
PYTHON_INCLUDE_DIRS
}
)
TARGET_LINK_LIBRARIES
(
test-cpp-python_parser PUBLIC
${
PYWRAP
}
)
TARGET_LINK_LIBRARIES
(
test-cpp-python_parser PUBLIC
${
PYTHON_LIBRARIES
}
)
...
...
@@ -124,25 +125,25 @@ ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives)
ADD_PINOCCHIO_UNIT_TEST
(
multiprecision
)
# Automatic differentiation
IF
(
CPPAD_FOUND AND
BUILD_WITH_AUTODIFF_SUPPORT
)
IF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
ADD_PINOCCHIO_UNIT_TEST
(
cppad-basic cppad
)
ADD_PINOCCHIO_UNIT_TEST
(
cppad-spatial cppad
)
ADD_PINOCCHIO_UNIT_TEST
(
cppad-joints cppad
)
ADD_PINOCCHIO_UNIT_TEST
(
cppad-algo cppad
)
ADD_PINOCCHIO_UNIT_TEST
(
cppad-algo-derivatives cppad
)
IF
(
CPPADCG_FOUND AND
BUILD_WITH_CODEGEN_SUPPORT
)
IF
(
BUILD_WITH_CODEGEN_SUPPORT
)
ADD_PINOCCHIO_UNIT_TEST
(
cppadcg-basic cppadcg
)
SET_PROPERTY
(
TARGET test-cpp-cppadcg-basic PROPERTY CXX_STANDARD 11
)
TARGET_LINK_LIBRARIES
(
test-cpp-cppadcg-basic
${
CMAKE_DL_LIBS
}
)
ADD_PINOCCHIO_UNIT_TEST
(
cppadcg-algo cppadcg
)
SET_PROPERTY
(
TARGET test-cpp-cppadcg-algo PROPERTY CXX_STANDARD 11
)
TARGET_LINK_LIBRARIES
(
test-cpp-cppadcg-algo
${
CMAKE_DL_LIBS
}
)
ENDIF
(
CPPADCG_FOUND AND
BUILD_WITH_CODEGEN_SUPPORT
)
ENDIF
(
BUILD_WITH_CODEGEN_SUPPORT
)
ENDIF
(
CPPAD_FOUND AND
BUILD_WITH_AUTODIFF_SUPPORT
)
ENDIF
(
BUILD_WITH_AUTODIFF_SUPPORT
)
IF
(
CASADI_FOUND AND
BUILD_WITH_CASADI_SUPPORT
)
IF
(
BUILD_WITH_CASADI_SUPPORT
)
ADD_PINOCCHIO_UNIT_TEST
(
casadi-basic casadi
)
SET_PROPERTY
(
TARGET test-cpp-casadi-basic PROPERTY CXX_STANDARD 11
)
ADD_PINOCCHIO_UNIT_TEST
(
casadi-spatial casadi
)
...
...
@@ -153,5 +154,5 @@ IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
SET_PROPERTY
(
TARGET test-cpp-casadi-algo PROPERTY CXX_STANDARD 11
)
ADD_PINOCCHIO_UNIT_TEST
(
casadi-algo-derivatives casadi
)
SET_PROPERTY
(
TARGET test-cpp-casadi-algo-derivatives PROPERTY CXX_STANDARD 11
)
ENDIF
(
CASADI_FOUND AND
BUILD_WITH_CASADI_SUPPORT
)
ENDIF
(
BUILD_WITH_CASADI_SUPPORT
)
utils/CMakeLists.txt
View file @
15a716df
...
...
@@ -18,6 +18,7 @@ MACRO(ADD_UTIL NAME UTIL_SRC PKGS)
ENDFOREACH
(
PKG
)
TARGET_LINK_LIBRARIES
(
${
NAME
}
PUBLIC
${
PROJECT_NAME
}
)
IF
(
BUILD_PYTHON_INTERFACE
)
TARGET_INCLUDE_DIRECTORIES
(
${
NAME
}
SYSTEM PUBLIC
${
PYTHON_INCLUDE_DIRS
}
)
TARGET_LINK_BOOST_PYTHON
(
${
NAME
}
PUBLIC
)
TARGET_LINK_LIBRARIES
(
${
NAME
}
PUBLIC
${
PYTHON_LIBRARIES
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
...
...
Write
Preview
Supports
Markdown
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
