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Stack Of Tasks
sot-dynamic-pinocchio
Commits
b188a92a
Commit
b188a92a
authored
Nov 02, 2010
by
Thomas Moulard
Browse files
Switch to submodule.
parent
0cd6c97b
Changes
21
Hide whitespace changes
Inline
Side-by-side
.gitmodules
0 → 100644
View file @
b188a92a
[submodule "cmake"]
path = cmake
url = git@github.com:jrl-umi3218/jrl-cmakemodules.git
CMakeLists.txt
View file @
b188a92a
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
#
# Copyright
# This file is part of sot-dynamic.
# sot-dynamic is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dynamic is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED
(
VERSION 2.6
)
SET
(
PROJECT_NAME sot-dynamic
)
project
(
${
PROJECT_NAME
}
)
INCLUDE
(
cmake/base.cmake
)
INCLUDE
(
cmake/boost.cmake
)
INCLUDE
(
cmake/lapack.cmake
)
SET
(
PROJECT_NAME sot-dynamic
)
SET
(
PROJECT_VERSION 1.0.0.99
)
SET
(
PROJECT_DESCRIPTION
"jrl-dynamics bindings for dynamic-graph."
)
SET
(
PROJECT_URL
""
)
SET
(
CMAKE_VERBOSE_MAKEFILE true
)
enable_testing
()
IF
(
WIN32
)
SET
(
LIBDIR_KW
"/LIBPATH:"
)
SET
(
LIBINCL_KW
""
)
SET
(
LIB_EXT
".lib"
)
ENDIF
(
WIN32
)
IF
(
UNIX
)
SET
(
LIBDIR_KW
"-L"
)
SET
(
LIBINCL_KW
"-l"
)
SET
(
LIB_EXT
""
)
ENDIF
(
UNIX
)
# -------------------------------------------------------------------
# --- UTILS ---------------------------------------------------------
# -------------------------------------------------------------------
MACRO
(
LIST2STRING _VAR_ARG _LIST_ARG
)
SET
(
${
_VAR_ARG
}
)
SET
(
_FIRST_STEP 1
)
FOREACH
(
_ITEM
${
ARGV
}
)
IF
(
_FIRST_STEP
)
SET
(
_FIRST_STEP 0
)
ELSE
(
_FIRST_STEP
)
SET
(
${
_VAR_ARG
}
"
${${
_VAR_ARG
}}
${
_ITEM
}
"
)
ENDIF
(
_FIRST_STEP
)
ENDFOREACH
(
_ITEM
)
ENDMACRO
(
LIST2STRING
)
#
# Look for dependencies
#
# Load Pkgconfig macros
INCLUDE
(
FindPkgConfig
)
SET
(
PACKAGE_REQUIREMENTS
""
)
#
# Dependency to package dynamicsJRLJapan
#
SET
(
DYNAMICSJRLJAPAN_FOUND 0
)
SET
(
DYNAMICSJRLJAPAN_REQUIRED
"dynamicsJRLJapan >= 1.16.1"
)
PKG_CHECK_MODULES
(
DYNAMICSJRLJAPAN REQUIRED
${
DYNAMICSJRLJAPAN_REQUIRED
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS --variable=docdir dynamicsJRLJapan
OUTPUT_VARIABLE DYNAMICSJRLJAPAN_DOCDIR
)
MESSAGE
(
STATUS
"pkg-config:
${
PKG_CONFIG_EXECUTABLE
}
"
)
MESSAGE
(
STATUS
"DYNAMICSJRLJAPAN_DOCDIR=
${
DYNAMICSJRLJAPAN_DOCDIR
}
"
)
SET
(
DYNAMICSJRLJAPAN_FOUND 1
)
IF
(
NOT
${
DYNAMICSJRLJAPAN_FOUND
}
)
MESSAGE
(
FATAL_ERROR
"Check that package dynamicsJRLJapan is installed in a directory pointed out by PKG_CONFIG_PATH."
)
ENDIF
(
NOT
${
DYNAMICSJRLJAPAN_FOUND
}
)
IF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
${
DYNAMICSJRLJAPAN_REQUIRED
}
)
ELSE
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
DYNAMICSJRLJAPAN_REQUIRED
}
"
)
ENDIF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
# --- HRP2DYNAMICS ---------------------------------------
SET
(
HRP2DYNAMICS_FOUND 0
)
SET
(
HRP2DYNAMICS_REQUIRED
"hrp2Dynamics >= 1.3.0"
)
PKG_CHECK_MODULES
(
HRP2DYNAMICS REQUIRED
${
HRP2DYNAMICS_REQUIRED
}
)
IF
(
${
HRP2DYNAMICS_FOUND
}
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
HRP2DYNAMICS_REQUIRED
}
"
)
# MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
MESSAGE
(
STATUS
"h2D libs are '
${
HRP2DYNAMICS_LIBRARIES
}
'"
)
ENDIF
(
${
HRP2DYNAMICS_FOUND
}
)
# --- HRP2-10-Optimized ---------------------------------------
SET
(
_hrp210optimized_FOUND 0
)
SET
(
_hrp210optimized_REQUIRED
"hrp2-10-optimized >= 1.0"
)
#PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
PKG_CHECK_MODULES
(
_hrp210optimized
${
_hrp210optimized_REQUIRED
}
)
IF
(
${
_hrp210optimized_FOUND
}
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
_hrp210optimized_REQUIRED
}
"
)
# MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF
(
${
_hrp210optimized_FOUND
}
)
# --- Robots ---------------------------------------
SET
(
_hrp2_10_small_FOUND 0
)
SET
(
_hrp2_10_small_package
"hrp2_10-small"
)
PKG_CHECK_MODULES
(
_hrp2_10_small
${
_hrp2_10_small_package
}
)
IF
(
NOT
${
_hrp2_10_small_FOUND
}
)
MESSAGE
(
STATUS
"hrp2_10_small not found."
)
ELSE
(
NOT
${
_hrp2_10_small_FOUND
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS hrp2_10-small --variable=datadir
OUTPUT_VARIABLE HRP2_10-SMALL_DIRECTORY
)
MESSAGE
(
STATUS
"HRP2_10-SMALL_DIRECTORY:
${
HRP2_10-SMALL_DIRECTORY
}
"
)
ENDIF
(
NOT
${
_hrp2_10_small_FOUND
}
)
SET
(
_hrp2_10_small_old_FOUND 0
)
SET
(
_hrp2_10_small_old_package
"hrp2_10-small-old"
)
PKG_CHECK_MODULES
(
_hrp2_10_small_old
${
_hrp2_10_small_old_package
}
)
IF
(
NOT
${
_hrp2_10_small_old_FOUND
}
)
MESSAGE
(
STATUS
"hrp2_10_small_old not found."
)
ELSE
(
NOT
${
_hrp2_10_small_old_FOUND
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS hrp2_10-small-old --variable=datadir
OUTPUT_VARIABLE HRP2_10-SMALL-OLD_DIRECTORY
)
MESSAGE
(
STATUS
"HRP2_10-SMALL-OLD_DIRECTORY:
${
HRP2_10-SMALL-OLD_DIRECTORY
}
"
)
ENDIF
(
NOT
${
_hrp2_10_small_old_FOUND
}
)
SET
(
_hrp2_10_FOUND 0
)
SET
(
_hrp2_10_package
"hrp2_10"
)
PKG_CHECK_MODULES
(
_hrp2_10
${
_hrp2_10_package
}
)
IF
(
NOT
${
_hrp2_10_FOUND
}
)
MESSAGE
(
STATUS
"hrp2_10 not found."
)
ELSE
(
NOT
${
_hrp2_10_FOUND
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS hrp2_10 --variable=datadir
OUTPUT_VARIABLE HRP2_10_DIRECTORY
)
MESSAGE
(
STATUS
"HRP2_10_DIRECTORY:
${
HRP2_10_DIRECTORY
}
"
)
ENDIF
(
NOT
${
_hrp2_10_FOUND
}
)
#
# Dependency to package dynamic-graph
#
SET
(
DYNAMIC_GRAPH_FOUND 0
)
SET
(
DYNAMIC_GRAPH_REQUIRED
"dynamic-graph >= 1.0"
)
PKG_CHECK_MODULES
(
DYNAMIC_GRAPH REQUIRED
${
DYNAMIC_GRAPH_REQUIRED
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS --variable=docdir dynamic-graph
OUTPUT_VARIABLE DYNAMIC_GRAPH_DOCDIR
)
MESSAGE
(
STATUS
"pkg-config:
${
PKG_CONFIG_EXECUTABLE
}
"
)
MESSAGE
(
STATUS
"DYNAMIC_GRAPH_DOCDIR=
${
DYNAMIC_GRAPH_DOCDIR
}
"
)
SET
(
DYNAMIC_GRAPH_FOUND 1
)
IF
(
NOT
${
DYNAMIC_GRAPH_FOUND
}
)
MESSAGE
(
FATAL_ERROR
"Check that package dynamic-graph is installed in a directory pointed out by PKG_CONFIG_PATH."
)
ENDIF
(
NOT
${
DYNAMIC_GRAPH_FOUND
}
)
IF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
${
DYNAMIC_GRAPH_REQUIRED
}
)
ELSE
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
DYNAMIC_GRAPH_REQUIRED
}
"
)
ENDIF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
CUSTOM_HEADER_DIR
"
${
PROJECT_NAME
}
"
)
# Disable -Werror on Unix for now.
SET
(
CXX_DISABLE_WERROR True
)
#
# Dependency to package sot-core
#
SET
(
SOT_CORE_FOUND 0
)
SET
(
SOT_CORE_REQUIRED
"sot-core >= 1.0"
)
PKG_CHECK_MODULES
(
SOT_CORE REQUIRED
${
SOT_CORE_REQUIRED
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS --variable=docdir sot-core
OUTPUT_VARIABLE SOT_CORE_DOCDIR
)
MESSAGE
(
STATUS
"pkg-config:
${
PKG_CONFIG_EXECUTABLE
}
"
)
MESSAGE
(
STATUS
"SOT_CORE_DOCDIR=
${
SOT_CORE_DOCDIR
}
"
)
SET
(
SOT_CORE_FOUND 1
)
SET
(
PKG_CONFIG_ADDITIONAL_VARIABLES
${
PKG_CONFIG_ADDITIONAL_VARIABLES
}
plugindirname
plugindir
)
IF
(
NOT
${
SOT_CORE_FOUND
}
)
MESSAGE
(
FATAL_ERROR
"Check that package sot-core is installed in a directory pointed out by PKG_CONFIG_PATH."
)
ENDIF
(
NOT
${
SOT_CORE_FOUND
}
)
IF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
${
SOT_CORE_REQUIRED
}
)
ELSE
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
SOT_CORE_REQUIRED
}
"
)
ENDIF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SETUP_PROJECT
()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY
(
"jrl-mal >= 1.8.0"
)
#
# Dependency to package MatrixAbstractLayer
#
SET
(
MATRIXABSTRACTLAYER_FOUND 0
)
SET
(
MATRIXABSTRACTLAYER_REQUIRED
"MatrixAbstractLayer >= 1.8.0"
)
PKG_CHECK_MODULES
(
MATRIXABSTRACTLAYER REQUIRED
${
MATRIXABSTRACTLAYER_REQUIRED
}
)
EXEC_PROGRAM
(
${
PKG_CONFIG_EXECUTABLE
}
ARGS --variable=docdir MatrixAbstractLayer
OUTPUT_VARIABLE MATRIXABSTRACTLAYER_DOCDIR
)
MESSAGE
(
STATUS
"pkg-config:
${
PKG_CONFIG_EXECUTABLE
}
"
)
MESSAGE
(
STATUS
"MATRIXABSTRACTLAYER_DOCDIR=
${
MATRIXABSTRACTLAYER_DOCDIR
}
"
)
SET
(
MATRIXABSTRACTLAYER_FOUND 1
)
ADD_REQUIRED_DEPENDENCY
(
"dynamicsJRLJapan >= 1.16.1"
)
ADD_REQUIRED_DEPENDENCY
(
"hrp2Dynamics >= 1.3.0"
)
ADD_REQUIRED_DEPENDENCY
(
"hrp2-10-optimized >= 1.0"
)
IF
(
NOT
${
MATRIXABSTRACTLAYER_FOUND
}
)
MESSAGE
(
FATAL_ERROR
"Check that package MatrixAbstractLayer is installed in a directory pointed out by PKG_CONFIG_PATH."
)
ENDIF
(
NOT
${
MATRIXABSTRACTLAYER_FOUND
}
)
IF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
${
MATRIXABSTRACTLAYER_REQUIRED
}
)
ELSE
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
SET
(
PACKAGE_REQUIREMENTS
"
${
PACKAGE_REQUIREMENTS
}
,
${
MATRIXABSTRACTLAYER_REQUIRED
}
"
)
ENDIF
(
PACKAGE_REQUIREMENTS STREQUAL
""
)
ADD_REQUIRED_DEPENDENCY
(
"hrp2_10"
)
ADD_REQUIRED_DEPENDENCY
(
"hrp2_10-small"
)
#
# pkg-config file
#
ADD_REQUIRED_DEPENDENCY
(
"dynamic-graph >= 1.0.0"
)
ADD_REQUIRED_DEPENDENCY
(
"sot-core >= 1.0.0"
)
SET
(
install_pkg_prefix
"
\$
{prefix}"
)
SET
(
install_pkg_exec_prefix
"
\$
{exec_prefix}"
)
SET
(
install_pkg_libdir
"
\$
{libdir}"
)
SET
(
install_pkg_datarootdir
"
\$
{datarootdir}"
)
SET
(
install_pkg_include_dir
"
\$
{includedir}"
)
# the shared libraries that will be listed in the .pc file
SET
(
libs
zmpreffromcom
force-compensation
...
...
@@ -218,77 +62,29 @@ SET(libs
waist-attitude-from-sensor
)
IF
(
${
DYNAMICSJRLJAPAN_FOUND
}
)
LIST
(
APPEND libs dynamic
)
IF
(
${
HRP2DYNAMICS_FOUND
}
)
LIST
(
APPEND libs dynamic-hrp2
)
SET
(
dynamic-hrp2_plugins_dependencies dynamic
)
ENDIF
(
${
HRP2DYNAMICS_FOUND
}
)
ENDIF
(
${
DYNAMICSJRLJAPAN_FOUND
}
)
IF
(
${
_hrp210optimized_FOUND
}
)
LIST
(
APPEND libs dynamic-hrp2_10
)
SET
(
dynamic-hrp2_10_plugins_dependencies dynamic
)
SET
(
dynamic-hrp2_10_plugins_compile_flags
${
_dynamicsJRLJapan_CFLAGS
}
${
_hrp210optimized_CFLAGS
}
)
SET
(
dynamic-hrp2_10_plugins_link_flags
${
_dynamicsJRLJapan_LDFLAGS
}
${
_hrp210optimized_LDFLAGS
}
)
LIST
(
APPEND libs dynamic-hrp2_10_old
)
SET
(
dynamic-hrp2_10_plugins_dependencies dynamic
)
SET
(
dynamic-hrp2_10_old_plugins_compile_flags
${
_dynamicsJRLJapan_CFLAGS
}
${
_hrp210optimized_CFLAGS
}
)
SET
(
dynamic-hrp2_10_old_plugins_link_flags
${
_dynamicsJRLJapan_LDFLAGS
}
${
_hrp210optimized_LDFLAGS
}
)
ENDIF
(
${
_hrp210optimized_FOUND
}
)
# hrp2-14 dependencies.
LIST
(
APPEND libs dynamic
)
LIST
(
APPEND libs dynamic-hrp2
)
SET
(
dynamic-hrp2_plugins_dependencies dynamic
)
# Add libs to the .pc file
FOREACH
(
lib
${
libs
}
)
SET
(
pc-libs
"
${
pc-libs
}
${
LIBINCL_KW
}${
lib
}${
CMAKE_IMPORT_LIBRARY_SUFFIX
}
"
)
ENDFOREACH
(
lib
)
# hrp2-10 dependencies.
LIST
(
APPEND libs dynamic-hrp2_10
)
SET
(
dynamic-hrp2_10_plugins_dependencies dynamic
)
SET
(
dynamic-hrp2_10_plugins_compile_flags
${
_dynamicsJRLJapan_CFLAGS
}
${
_hrp210optimized_CFLAGS
}
)
SET
(
dynamic-hrp2_10_plugins_link_flags
${
_dynamicsJRLJapan_LDFLAGS
}
${
_hrp210optimized_LDFLAGS
}
)
IF
(
UNIX
)
SET
(
${
PROJECT_NAME
}
_LDFLAGS
"-Wl,-R
${
install_pkg_libdir
}
${
pc-libs
}
${${
PROJECT_NAME
}
_LDFLAGS
}
"
)
ENDIF
(
UNIX
)
LIST
(
APPEND libs dynamic-hrp2_10_old
)
SET
(
dynamic-hrp2_10_plugins_dependencies dynamic
)
SET
(
dynamic-hrp2_10_old_plugins_compile_flags
${
_dynamicsJRLJapan_CFLAGS
}
${
_hrp210optimized_CFLAGS
}
)
SET
(
dynamic-hrp2_10_old_plugins_link_flags
${
_dynamicsJRLJapan_LDFLAGS
}
${
_hrp210optimized_LDFLAGS
}
)
IF
(
WIN32
)
SET
(
${
PROJECT_NAME
}
_LDFLAGS
"
${
pc-libs
}
"
)
ENDIF
(
WIN32
)
# Install the file in the appropriate place.
SET
(
install_libdir_pkgconfig
${
CMAKE_INSTALL_PREFIX
}
/lib/pkgconfig
)
CONFIGURE_FILE
(
${
CMAKE_CURRENT_SOURCE_DIR
}
/
${
PROJECT_NAME
}
.pc.cmake
${
CMAKE_CURRENT_BINARY_DIR
}
/
${
PROJECT_NAME
}
.pc
)
INSTALL
(
FILES
${
CMAKE_CURRENT_BINARY_DIR
}
/
${
PROJECT_NAME
}
.pc
DESTINATION
${
install_libdir_pkgconfig
}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)
# Uninstall target.
CONFIGURE_FILE
(
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/cmake_uninstall.cmake.in"
"
${
CMAKE_CURRENT_BINARY_DIR
}
/cmake_uninstall.cmake"
IMMEDIATE @ONLY
)
ADD_CUSTOM_TARGET
(
uninstall
"
${
CMAKE_COMMAND
}
"
-P
"
${
CMAKE_CURRENT_BINARY_DIR
}
/cmake_uninstall.cmake"
)
IF
(
WIN32
)
ADD_DEFINITIONS
(
"-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS /wd4251 /wd4275 /wd4101 /wd4355"
)
ENDIF
(
WIN32
)
ADD_SUBDIRECTORY
(
src
)
ADD_SUBDIRECTORY
(
include
)
ADD_SUBDIRECTORY
(
src
)
ADD_SUBDIRECTORY
(
unitTesting
)
#
# Documentation produced by doxygen
#
INCLUDE
(
FindDoxygen
)
IF
(
DOXYGEN_FOUND
)
add_subdirectory
(
doc
)
ENDIF
(
DOXYGEN_FOUND
)
SETUP_PROJECT_FINALIZE
()
cmake
@
1d7db7da
Subproject commit 1d7db7da015ea4d25d6710bad4493b35ce3b05f6
doc/CMakeFiles/CMakeDirectoryInformation.cmake
deleted
100644 → 0
View file @
0cd6c97b
# CMAKE generated file: DO NOT EDIT!
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# Relative path conversion top directories.
SET
(
CMAKE_RELATIVE_PATH_TOP_SOURCE
"/home/blue/sot-devel/sot-dynamic"
)
SET
(
CMAKE_RELATIVE_PATH_TOP_BINARY
"/home/blue/sot-devel/sot-dynamic"
)
# Force unix paths in dependencies.
SET
(
CMAKE_FORCE_UNIX_PATHS 1
)
# The C and CXX include file search paths:
SET
(
CMAKE_C_INCLUDE_PATH
)
SET
(
CMAKE_CXX_INCLUDE_PATH
${
CMAKE_C_INCLUDE_PATH
}
)
SET
(
CMAKE_Fortran_INCLUDE_PATH
${
CMAKE_C_INCLUDE_PATH
}
)
# The C and CXX include file regular expressions for this directory.
SET
(
CMAKE_C_INCLUDE_REGEX_SCAN
"^.*$"
)
SET
(
CMAKE_C_INCLUDE_REGEX_COMPLAIN
"^$"
)
SET
(
CMAKE_CXX_INCLUDE_REGEX_SCAN
${
CMAKE_C_INCLUDE_REGEX_SCAN
}
)
SET
(
CMAKE_CXX_INCLUDE_REGEX_COMPLAIN
${
CMAKE_C_INCLUDE_REGEX_COMPLAIN
}
)
doc/CMakeFiles/documentation.dir/DependInfo.cmake
deleted
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View file @
0cd6c97b
# The set of languages for which implicit dependencies are needed:
SET
(
CMAKE_DEPENDS_LANGUAGES
)
# The set of files for implicit dependencies of each language:
# Targets to which this target links.
SET
(
CMAKE_TARGET_LINKED_INFO_FILES
)
doc/CMakeFiles/documentation.dir/build.make
deleted
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