Commit 89f2018a authored by Francois Keith's avatar Francois Keith Committed by Florent Lamiraux florent@laas.fr
Browse files

The dependency in hrp2 is now optional.

The code can now compile without.
parent f4c08686
......@@ -41,11 +41,11 @@ SETUP_PROJECT()
ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.9.0")
ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.19.0")
ADD_REQUIRED_DEPENDENCY("hrp2-dynamics >= 1.5.0")
ADD_REQUIRED_DEPENDENCY("hrp2-10-optimized >= 1.0.1")
ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.5.0")
ADD_OPTIONAL_DEPENDENCY("hrp2-10-optimized >= 1.0.1")
ADD_REQUIRED_DEPENDENCY("hrp2-10 >= 1.0.1")
ADD_REQUIRED_DEPENDENCY("hrp2-14 >= 1.8")
ADD_OPTIONAL_DEPENDENCY("hrp2-10 >= 1.0.1")
ADD_OPTIONAL_DEPENDENCY("hrp2-14 >= 1.8")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 2.5.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 2.5")
......@@ -90,4 +90,4 @@ ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(unitTesting)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
\ No newline at end of file
SETUP_PROJECT_CPACK()
......@@ -29,9 +29,11 @@ ENDIF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
SET(integrator-force-rk4_plugins_dependencies integrator-force)
SET(integrator-force-exact_plugins_dependencies integrator-force)
SET(dynamic-hrp2_plugins_dependencies dynamic)
SET(dynamic-hrp2_10_plugins_dependencies dynamic)
SET(dynamic-hrp2_10_old_plugins_dependencies dynamic)
IF(HRP2_DYNAMICS_FOUND)
SET(dynamic-hrp2_plugins_dependencies dynamic)
SET(dynamic-hrp2_10_plugins_dependencies dynamic)
SET(dynamic-hrp2_10_old_plugins_dependencies dynamic)
ENDIF(HRP2_DYNAMICS_FOUND)
FOREACH(lib ${libs})
ADD_LIBRARY(${lib} SHARED ${lib}.cpp)
......@@ -48,10 +50,12 @@ FOREACH(lib ${libs})
TARGET_LINK_LIBRARIES(${lib} ${Boost_LIBRARIES})
PKG_CONFIG_USE_DEPENDENCY(${lib} jrl-dynamics)
PKG_CONFIG_USE_DEPENDENCY(${lib} hrp2-dynamics)
PKG_CONFIG_USE_DEPENDENCY(${lib} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${lib} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${lib} jrl-mal)
IF(HRP2_DYNAMICS_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${lib} hrp2-dynamics)
ENDIF(HRP2_DYNAMICS_FOUND)
INSTALL(TARGETS ${lib} DESTINATION lib/plugin)
# build python submodule
......@@ -64,10 +68,7 @@ FOREACH(lib ${libs})
ENDFOREACH(lib)
# Install empty __init__.py files in intermediate directories.
CONFIG_FILES(dynamic_graph/sot/dynamics/hrp2.py)
INSTALL(FILES
${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph/sot/dynamics/hrp2.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/humanoid_robot.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/parser.py
......@@ -76,7 +77,15 @@ INSTALL(FILES
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
)
PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2 hrp2-dynamics)
IF(HRP2_DYNAMICS_FOUND)
CONFIG_FILES(dynamic_graph/sot/dynamics/hrp2.py)
INSTALL(FILES
${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph/sot/dynamics/hrp2.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
)
PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2 hrp2-dynamics)
ENDIF(HRP2_DYNAMICS_FOUND)
IF(${HRP2_10_OPTIMIZED_FOUND})
PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_10 hrp2-10-optimized)
......
......@@ -53,10 +53,12 @@ FOREACH(test ${tests})
)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-dynamics)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} hrp2-dynamics)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-mal)
IF(HRP2_DYNAMICS_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} hrp2-dynamics)
ENDIF(HRP2_DYNAMICS_FOUND)
IF(${test}_plugins_dependencies)
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment