From e3454fe99e920126723c59e983c8ff78936dc9a6 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Wed, 23 Jun 2010 18:54:31 +0900
Subject: [PATCH] Added plugins compilation and installation to CMakeFiles.
Started separating plugins from sot-core.
---
CMakeLists.txt | 11 ------
src/CMakeLists.txt | 92 +++++++++++++++++++++++++++++++++++++++++-----
2 files changed, 83 insertions(+), 20 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59cbf88f..0b295e9e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -78,17 +78,6 @@ ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${MATRIXABSTRACTLAYER_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
-INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
-
-# --- BOOST NUMERIC BINDINGS-------------------------------------
-IF ("${Boost_VERSION}" STRLESS "104000")
- INCLUDE(${CMAKE_MODULE_PATH}/FindBoostNumericBindings.cmake)
- MESSAGE(STATUS "BoostNumericBindings_INCLUDE_DIR=${BoostNumericBindings_INCLUDE_DIR}")
- INCLUDE_DIRECTORIES(${BoostNumericBindings_INCLUDE_DIR})
- LIST(APPEND ${PROJECT_NAME}_CFLAGS -I${BoostNumericBindings_INCLUDE_DIR})
-ENDIF("${Boost_VERSION}" STRLESS "104000")
-
#
# Dependency to package dynamic-graph
#
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index aa9c8210..33263c24 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,11 +2,16 @@
# Copyright
#
-SET(LIBRARY_NAME ${PROJECT_NAME})
+#This project will create many shared libraries as plugins, listed here
+SET(plugins
+ sot/sot-qr
+ sot/weighted-sot
+ sot/sot-h
+ sot/sot
+)
-#Warning: compile order is VERY important (if you get a segfault, it's probably
-#the reason
-SET(${LIBRARY_NAME}_SOURCES
+#sot-core library sources
+SET(${PROJECT_NAME}_SOURCES
debug/debug.cpp
debug/contiifstream.cpp
@@ -75,6 +80,7 @@ SET(${LIBRARY_NAME}_SOURCES
factory/command/import.cpp
)
+SET(LIBRARY_NAME ${PROJECT_NAME})
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
ADD_DEFINITIONS(-DDEBUG=2)
@@ -94,10 +100,10 @@ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
SOVERSION ${PROJECT_VERSION}
INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
-SET_TARGET_PROPERTIES(${PROJECT_NAME_LIB}
+SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
- COMPILE_FLAGS ${${PROJECT_NAME}_src_CXXFLAGS}
- LINK_FLAGS ${${PROJECT_NAME}_src_LDFLAGS}
+ COMPILE_FLAGS "${${PROJECT_NAME}_src_CXXFLAGS}"
+ LINK_FLAGS "${${PROJECT_NAME}_src_LDFLAGS}"
)
# Add lapack compilation flags and link to library libLapack.so
@@ -130,10 +136,10 @@ ENDIF(WIN32)
# Linux dynamic loading library flags
IF(UNIX)
- SET(${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS} -ldl")
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dl)
ENDIF(UNIX)
-
+MESSAGE(STATUS "ldflags ${${PROJECT_NAME}_src_LDFLAGS}" )
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
LINK_FLAGS "${${PROJECT_NAME}_src_LDFLAGS}"
@@ -141,3 +147,71 @@ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
INSTALL(TARGETS ${LIBRARY_NAME}
DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+
+#Plugins compilation, link, and installation
+FOREACH(plugin ${plugins})
+ #retrieve plugin name
+ GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
+
+ INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+
+ ADD_DEFINITIONS(-DDEBUG=2)
+
+ # provide path to library libMatrixAbstractLayer.so
+ LINK_DIRECTORIES(${MATRIXABSTRACTLAYER_LIBRARY_DIRS})
+
+ # provide path to library libdynamic-graph.so
+ LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
+
+ # only one source file per plugin
+ ADD_LIBRARY(${LIBRARY_NAME}
+ SHARED
+ ${plugin}.cpp)
+
+ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
+ PROPERTIES
+ SOVERSION ${PROJECT_VERSION}
+ INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib/plugin)
+
+ # Add lapack compilation flags and link to library libLapack.so
+ ADD_DEFINITIONS(${LAPACK_CFLAGS})
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${LAPACK_LIBRARIES})
+
+ # Add MatrixAbstractLayer compilation flags and link to library libMatrixAbstractLayer.so
+ ADD_DEFINITIONS(${MATRIXABSTRACTLAYER_CFLAGS})
+ IF(UNIX)
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${MATRIXABSTRACTLAYER_LIBRARIES})
+ ENDIF(UNIX)
+
+ IF(WIN32)
+ foreach(dlink ${MATRIXABSTRACTLAYER_LDFLAGS})
+ SET ( ${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS} ${dlink}")
+ endforeach(dlink)
+ ENDIF(WIN32)
+
+ # Add dynamic-graph compilation flags and link to library libdynamic-graph.so
+ ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
+ IF(UNIX)
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${DYNAMIC_GRAPH_LIBRARIES})
+ ENDIF(UNIX)
+
+ IF(WIN32)
+ foreach(dlink ${DYNAMIC_GRAPH_LDFLAGS})
+ SET ( ${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS} ${dlink}")
+ endforeach(dlink)
+ ENDIF(WIN32)
+
+ # Linux dynamic loading library flags
+ IF(UNIX)
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dl)
+ ENDIF(UNIX)
+
+ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
+ PROPERTIES
+ COMPILE_FLAGS "${${PROJECT_NAME}_src_CXXFLAGS}"
+ LINK_FLAGS "${${PROJECT_NAME}_src_LDFLAGS}"
+ )
+
+ INSTALL(TARGETS ${LIBRARY_NAME}
+ DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/plugin)
+ENDFOREACH(plugin)
--
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