Commit b188a92a authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Switch to submodule.

parent 0cd6c97b
[submodule "cmake"]
path = cmake
url = git@github.com:jrl-umi3218/jrl-cmakemodules.git
# 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 "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
IF(WIN32)
ADD_DEFINITIONS("-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS /wd4251 /wd4275 /wd4101 /wd4355")
ENDIF(WIN32)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(unitTesting)
#
# Documentation produced by doxygen
#
INCLUDE(FindDoxygen)
IF(DOXYGEN_FOUND)
add_subdirectory(doc)
ENDIF(DOXYGEN_FOUND)
SETUP_PROJECT_FINALIZE()
Subproject commit 1d7db7da015ea4d25d6710bad4493b35ce3b05f6
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DESTINATION share/doc/${PROJECT_NAME}/html)
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