From 950cdc75258012d6a50d95ea559fc444c122e7e2 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 29 Apr 2015 10:50:36 +0200
Subject: [PATCH] [Fix bug][Python] Define flag in order to control Lua
inclusion
---
src/CMakeLists.txt | 8 ++++++++
src/python/parsers.hpp | 11 +++++++++--
2 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ae99dfab1..b2fbed641 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -18,6 +18,11 @@ MACRO(ADD_SOURCE_GROUP FILENAMES)
ADD_GROUP("Source Files" ${FILENAMES})
ENDMACRO(ADD_SOURCE_GROUP FILENAMES)
+MACRO(ADD_TARGET_CFLAGS target flag)
+ GET_TARGET_PROPERTY(${target}_CFLAGS ${target} COMPILE_FLAGS)
+ SET_PROPERTY(TARGET ${target} PROPERTY COMPILE_FLAGS "${${target}_CFLAGS} ${flag}")
+ENDMACRO(ADD_TARGET_CFLAGS)
+
# ----------------------------------------------------
# --- C++ --------------------------------------------
# ----------------------------------------------------
@@ -70,6 +75,9 @@ IF(EIGENPY_FOUND)
TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} ${PROJECT_NAME})
SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
+ IF(LUA5_1_FOUND)
+ ADD_TARGET_CFLAGS (${PYWRAP} "-DWITH_LUA")
+ ENDIF(LUA5_1_FOUND)
INSTALL(FILES
"${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}/lib${PYWRAP}.so"
DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
diff --git a/src/python/parsers.hpp b/src/python/parsers.hpp
index ba48c52c7..fe6100ebe 100644
--- a/src/python/parsers.hpp
+++ b/src/python/parsers.hpp
@@ -8,7 +8,10 @@
#include "pinocchio/python/data.hpp"
#include "pinocchio/multibody/parser/urdf.hpp"
-#include "pinocchio/multibody/parser/lua.hpp"
+
+#ifdef WITH_LUA
+ #include "pinocchio/multibody/parser/lua.hpp"
+#endif // #ifdef WITH_LUA
namespace se3
{
@@ -24,6 +27,7 @@ namespace se3
return ModelHandler(model,true);
}
+#ifdef WITH_LUA
static ModelHandler buildModelFromLua(const std::string & filename,
bool ff,
bool verbose
@@ -33,6 +37,7 @@ namespace se3
*model = se3::lua::buildModel (filename, ff, verbose);
return ModelHandler (model,true);
}
+#endif // #ifdef WITH_LUA
/* --- Expose --------------------------------------------------------- */
static void expose()
@@ -43,17 +48,19 @@ namespace se3
"Parse the urdf file given in input and return a proper pinocchio model "
"(remember to create the corresponding data structure).");
+#ifdef WITH_LUA
bp::def("buildModelFromLua",buildModelFromLua,
bp::args("Filename (string)",
"Free flyer (bool, false for a fixed robot)",
"Verbose option "),
"Parse the urdf file given in input and return a proper pinocchio model "
"(remember to create the corresponding data structure).");
+#endif // #ifdef WITH_LUA
}
};
}} // namespace se3::python
-#endif // ifndef __se3_python_data_hpp__
+#endif // ifndef __se3_python_parsers_hpp__
--
GitLab