From 4a218cf5ab2a29bf7b9ae399a99cdd2de8257e61 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Fri, 14 Nov 2014 15:13:54 +0100
Subject: [PATCH] Added conditionnal compilation of urdf and python. Added
precompilation of pyc file.
---
CMakeLists.txt | 125 ++++++++++++++++++++++++++-----------------------
1 file changed, 67 insertions(+), 58 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 616402d50..adc38b069 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,18 +27,16 @@ ELSE(WIN32)
SET(LINK create_symlink)
ENDIF(WIN32)
+# --- OPTIONS ----------------------------------------
+OPTION (BUILD_BENCHMARK "Build the benchmarks" OFF)
# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
-ADD_REQUIRED_DEPENDENCY("eigenpy >= v1.2.0")
-ADD_REQUIRED_DEPENDENCY("urdfdom >= v0.3.0")
-ADD_REQUIRED_DEPENDENCY("eigen3 >= v3.0.5")
-
-# ----------------------------------------------------
-# --- BENCHMARKS -------------------------------------
-# ----------------------------------------------------
-OPTION (BUILD_BENCHMARK "Build the benchmarks" OFF)
+ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
+ADD_OPTIONAL_DEPENDENCY("eigenpy >= 1.2.0")
+ADD_OPTIONAL_DEPENDENCY("metapod >= 1.0.7")
+ADD_OPTIONAL_DEPENDENCY("urdfdom >= 0.2.10")
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
@@ -66,7 +64,6 @@ SET(HEADERS
multibody/joint/joint-generic.hpp
multibody/model.hpp
multibody/visitor.hpp
- multibody/parser/urdf.hpp
multibody/parser/sample-models.hpp
algorithm/rnea.hpp
algorithm/crba.hpp
@@ -87,6 +84,10 @@ SET(HEADERS
python/parsers.hpp
)
+IF(URDFDOM_FOUND)
+ LIST(APPEND HEADERS multibody/parser/urdf.hpp)
+ENDIF(URDFDOM_FOUND)
+
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/math")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/spatial")
@@ -111,60 +112,68 @@ ENDFOREACH(header)
# ----------------------------------------------------
# --- PYTHON -----------------------------------------
# ----------------------------------------------------
-FINDPYTHON()
-MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}")
-
-# --- COMPILE WRAPPER
-SET(PYWRAP ${PROJECT_NAME}_pywrap)
-ADD_LIBRARY(${PYWRAP} SHARED src/python/module.cpp src/python/python.cpp)
-PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
-PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} urdfdom)
-TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} eigenpy)
-SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
- LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
-INSTALL(FILES
- "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}/lib${PYWRAP}.so"
- DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
-
-# --- INSTALL SCRIPTS
-SET(PYTHON_FILES
- python/__init__.py
- python/utils.py
- python/robot_wrapper.py
- python/rpy.py
- python/explog.py
-)
-FOREACH(python ${PYTHON_FILES})
- GET_FILENAME_COMPONENT(pythonFile ${python} NAME)
- EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
- ${${PROJECT_NAME}_SOURCE_DIR}/src/${python}
- ${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile})
-
- # Tag pyc file as generated.
- SET_SOURCE_FILES_PROPERTIES(
- "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c"
- PROPERTIES GENERATED TRUE)
-
- EXECUTE_PROCESS(COMMAND
- ${PYTHON_EXECUTABLE} -m py_compile
- ${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile} )
-
- # Clean generated files.
- SET_PROPERTY(
- DIRECTORY APPEND PROPERTY
- ADDITIONAL_MAKE_CLEAN_FILES
- "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c")
+IF(EIGENPY_FOUND)
+ FINDPYTHON()
+ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}")
+
+ # --- COMPILE WRAPPER
+ SET(PYWRAP ${PROJECT_NAME}_pywrap)
+ ADD_LIBRARY(${PYWRAP} SHARED src/python/module.cpp src/python/python.cpp)
+ PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
+ IF(URDFDOM_FOUND)
+ PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} urdfdom)
+
+ ENDIF(URDFDOM_FOUND)
+ TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} eigenpy)
+ SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
+ LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
INSTALL(FILES
- "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}"
- "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c"
+ "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}/lib${PYWRAP}.so"
DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
-ENDFOREACH(python)
-
+
+ # --- INSTALL SCRIPTS
+ SET(PYTHON_FILES
+ python/__init__.py
+ python/utils.py
+ python/robot_wrapper.py
+ python/rpy.py
+ python/explog.py
+ )
+ FOREACH(python ${PYTHON_FILES})
+ GET_FILENAME_COMPONENT(pythonFile ${python} NAME)
+ EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
+ ${${PROJECT_NAME}_SOURCE_DIR}/src/${python}
+ ${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile})
+
+ # Tag pyc file as generated.
+ SET_SOURCE_FILES_PROPERTIES(
+ "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c"
+ PROPERTIES GENERATED TRUE)
+
+ EXECUTE_PROCESS(COMMAND
+ ${PYTHON_EXECUTABLE} -m py_compile
+ ${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile} )
+
+ # Clean generated files.
+ SET_PROPERTY(
+ DIRECTORY APPEND PROPERTY
+ ADDITIONAL_MAKE_CLEAN_FILES
+ "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c")
+
+ INSTALL(FILES
+ "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}"
+ "${CMAKE_CURRENT_BINARY_DIR}/lib/python/${PROJECT_NAME}/${pythonFile}c"
+ DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
+ ENDFOREACH(python)
+ENDIF(EIGENPY_FOUND)
+
+# --- EXECUTABLES --------------------------------------------------------------
+# --- EXECUTABLES --------------------------------------------------------------
+# --- EXECUTABLES --------------------------------------------------------------
ADD_SUBDIRECTORY(unittest)
-
IF (BUILD_BENCHMARK)
- ADD_SUBDIRECTORY (benchmark)
+ ADD_SUBDIRECTORY (benchmark)
ENDIF (BUILD_BENCHMARK)
SETUP_PROJECT_FINALIZE()
--
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