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pinocchio
Commits
1ffcbf8b
Verified
Commit
1ffcbf8b
authored
Jul 11, 2019
by
Justin Carpentier
Browse files
cmake/python: install Python headers
parent
4a87d8e7
Changes
2
Hide whitespace changes
Inline
Side-by-side
bindings/CMakeLists.txt
View file @
1ffcbf8b
#
# Copyright (c) 2016-201
8
CNRS INRIA
# Copyright (c) 2016-201
9
CNRS INRIA
#
# This file is part of Pinocchio
# pinocchio is free software: you can redistribute it
...
...
@@ -14,7 +14,7 @@
# pinocchio If not, see
# <http://www.gnu.org/licenses/>.
ADD_SUBDIRECTORY
(
python
)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_SUBDIRECTORY
(
python
)
SET
(
PYWRAP
${
PYWRAP
}
PARENT_SCOPE
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
bindings/python/CMakeLists.txt
View file @
1ffcbf8b
#
# Copyright (c) 2015-201
8
CNRS INRIA
# Copyright (c) 2015-201
9
CNRS INRIA
# Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
#
...
...
@@ -29,26 +29,28 @@ ENDFUNCTION(REMOVE_PATH_FROM_LIST)
# --- PYTHON TARGET --- #
ADD_CUSTOM_TARGET
(
python
)
SET_TARGET_PROPERTIES
(
python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True
)
SET
(
PYWRAP
${
PROJECT_NAME
}
_pywrap
)
SET
(
PYWRAP
${
PYWRAP
}
PARENT_SCOPE
)
# --- DEPENDENCIES --- #
# The following quiet finding of Eigen is necessary to retrive
# the include directory when packaging Pinocchio in ROS
find_package
(
Eigen3 QUIET
)
if
(
EIGEN3_FOUND
)
include_directories
(
${
EIGEN3_INCLUDE_DIR
}
)
endif
()
SET
(
PKG_CONFIG_PYWRAP_REQUIRES
"eigenpy >= 1.4.4"
)
FOREACH
(
dep
${
PKG_CONFIG_PYWRAP_REQUIRES
}
)
ADD_COMPILE_DEPENDENCY
(
${
dep
}
)
ENDFOREACH
(
dep
${
PKG_CONFIG_PYWRAP_REQUIRES
}
)
# --- LIBRARY --- #
SET
(
${
PYWRAP
}
_INSTALL_DIR
${
CMAKE_INSTALL_PREFIX
}
/
${
PYTHON_SITELIB
}
/
${
PROJECT_NAME
}
)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_CUSTOM_TARGET
(
python
)
SET_TARGET_PROPERTIES
(
python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True
)
SET
(
PYWRAP
${
PROJECT_NAME
}
_pywrap
)
SET
(
PYWRAP
${
PYWRAP
}
PARENT_SCOPE
)
# --- DEPENDENCIES --- #
# The following quiet finding of Eigen is necessary to retrive
# the include directory when packaging Pinocchio in ROS
find_package
(
Eigen3 QUIET
)
if
(
EIGEN3_FOUND
)
include_directories
(
${
EIGEN3_INCLUDE_DIR
}
)
endif
()
SET
(
PKG_CONFIG_PYWRAP_REQUIRES
"eigenpy >= 1.4.4"
)
FOREACH
(
dep
${
PKG_CONFIG_PYWRAP_REQUIRES
}
)
ADD_COMPILE_DEPENDENCY
(
${
dep
}
)
ENDFOREACH
(
dep
${
PKG_CONFIG_PYWRAP_REQUIRES
}
)
# --- LIBRARY --- #
SET
(
${
PYWRAP
}
_INSTALL_DIR
${
CMAKE_INSTALL_PREFIX
}
/
${
PYTHON_SITELIB
}
/
${
PROJECT_NAME
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
FILE
(
GLOB_RECURSE
${
PROJECT_NAME
}
_PYTHON_HEADERS
${
CMAKE_CURRENT_SOURCE_DIR
}
/*.hpp
...
...
@@ -113,105 +115,107 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
SET
(
${
PYWRAP
}
_SOURCES
${${
PROJECT_NAME
}
_PYTHON_SOURCES
}
)
SET
(
${
PYWRAP
}
_HEADERS
${${
PROJECT_NAME
}
_PYTHON_HEADERS
}
)
ADD_LIBRARY
(
${
PYWRAP
}
SHARED
${${
PYWRAP
}
_SOURCES
}
${${
PYWRAP
}
_HEADERS
}
)
ADD_DEPENDENCIES
(
python
${
PYWRAP
}
)
IF
(
BUILD_WITH_COMMIT_VERSION
)
TAG_LIBRARY_VERSION
(
${
PYWRAP
}
)
ENDIF
(
BUILD_WITH_COMMIT_VERSION
)
ADD_HEADER_GROUP
(
${
PYWRAP
}
_HEADERS
)
ADD_SOURCE_GROUP
(
${
PYWRAP
}
_SOURCES
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
eigenpy
)
TARGET_LINK_LIBRARIES
(
${
PYWRAP
}
${
PROJECT_NAME
}
)
TARGET_LINK_BOOST_PYTHON
(
${
PYWRAP
}
)
IF
(
HPP_FCL_FOUND
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
hpp-fcl
)
ENDIF
(
HPP_FCL_FOUND
)
IF
(
CPPAD_FOUND
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
"cppad"
)
ENDIF
(
CPPAD_FOUND
)
IF
(
CPPADCG_FOUND
)
SET_PROPERTY
(
TARGET
${
PYWRAP
}
PROPERTY CXX_STANDARD 11
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
"cppadcg"
)
ENDIF
(
CPPADCG_FOUND
)
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/
${
PROJECT_NAME
}
"
)
INSTALL
(
TARGETS
${
PYWRAP
}
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
)
# --- INSTALL SCRIPTS
SET
(
PYTHON_FILES
__init__.py
deprecated.py
deprecation.py
utils.py
robot_wrapper.py
romeo_wrapper.py
rpy.py
explog.py
shortcuts.py
)
IF
(
BUILD_PYTHON_INTERFACE
)
ADD_LIBRARY
(
${
PYWRAP
}
SHARED
${${
PYWRAP
}
_SOURCES
}
${${
PYWRAP
}
_HEADERS
}
)
ADD_DEPENDENCIES
(
python
${
PYWRAP
}
)
IF
(
BUILD_WITH_COMMIT_VERSION
)
TAG_LIBRARY_VERSION
(
${
PYWRAP
}
)
ENDIF
(
BUILD_WITH_COMMIT_VERSION
)
ADD_HEADER_GROUP
(
${
PYWRAP
}
_HEADERS
)
ADD_SOURCE_GROUP
(
${
PYWRAP
}
_SOURCES
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
eigenpy
)
TARGET_LINK_LIBRARIES
(
${
PYWRAP
}
${
PROJECT_NAME
}
)
TARGET_LINK_BOOST_PYTHON
(
${
PYWRAP
}
)
IF
(
HPP_FCL_FOUND
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
hpp-fcl
)
ENDIF
(
HPP_FCL_FOUND
)
IF
(
CPPAD_FOUND
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
"cppad"
)
ENDIF
(
CPPAD_FOUND
)
IF
(
CPPADCG_FOUND
)
SET_PROPERTY
(
TARGET
${
PYWRAP
}
PROPERTY CXX_STANDARD 11
)
PKG_CONFIG_USE_DEPENDENCY
(
${
PYWRAP
}
"cppadcg"
)
ENDIF
(
CPPADCG_FOUND
)
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/
${
PROJECT_NAME
}
"
)
INSTALL
(
TARGETS
${
PYWRAP
}
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
)
# --- INSTALL SCRIPTS
SET
(
PYTHON_FILES
__init__.py
deprecated.py
deprecation.py
utils.py
robot_wrapper.py
romeo_wrapper.py
rpy.py
explog.py
shortcuts.py
)
FOREACH
(
python
${
PYTHON_FILES
}
)
PYTHON_BUILD
(
${
PROJECT_NAME
}
${
python
}
)
INSTALL
(
FILES
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/pinocchio/
${
python
}
"
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
)
ENDFOREACH
(
python
)
# --- INSTALL VISUALIZATION SCRIPTS
SET
(
PYTHON_VISUALIZE_FILES
__init__.py
base_visualizer.py
gepetto_visualizer.py
meshcat_visualizer.py
)
FOREACH
(
python
${
PYTHON_FILES
}
)
PYTHON_BUILD
(
${
PROJECT_NAME
}
${
python
}
)
INSTALL
(
FILES
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/pinocchio/
${
python
}
"
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
)
ENDFOREACH
(
python
)
# --- INSTALL VISUALIZATION SCRIPTS
SET
(
PYTHON_VISUALIZE_FILES
__init__.py
base_visualizer.py
gepetto_visualizer.py
meshcat_visualizer.py
)
FOREACH
(
python
${
PYTHON_VISUALIZE_FILES
}
)
PYTHON_BUILD
(
${
PROJECT_NAME
}
/visualize
${
python
}
)
INSTALL
(
FILES
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/pinocchio/visualize/
${
python
}
"
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
/visualize
)
ENDFOREACH
(
python
)
# --- 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
)
FOREACH
(
python
${
PYTHON_VISUALIZE_FILES
}
)
PYTHON_BUILD
(
${
PROJECT_NAME
}
/visualize
${
python
}
)
INSTALL
(
FILES
"
${${
PROJECT_NAME
}
_SOURCE_DIR
}
/bindings/python/pinocchio/visualize/
${
python
}
"
DESTINATION
${${
PYWRAP
}
_INSTALL_DIR
}
/visualize
)
ENDFOREACH
(
python
)
# --- 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
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
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