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sot-dynamic-pinocchio
Commits
f844c3b1
Unverified
Commit
f844c3b1
authored
Aug 17, 2018
by
Guilhem Saurel
Committed by
GitHub
Aug 17, 2018
Browse files
Merge pull request #36 from nim65s/devel
[CMake] add BUILD_PYTHON_INTERFACE option
parents
56304929
d4c97547
Pipeline
#1344
passed with stage
in 17 minutes and 48 seconds
Changes
5
Pipelines
3
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Inline
Side-by-side
CMakeLists.txt
View file @
f844c3b1
...
...
@@ -41,13 +41,23 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
SETUP_PROJECT
()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY
(
"pinocchio >= 1.2.6"
)
ADD_REQUIRED_DEPENDENCY
(
"eigenpy"
)
ADD_REQUIRED_DEPENDENCY
(
"pinocchio >= 1.2.6"
)
ADD_REQUIRED_DEPENDENCY
(
"dynamic-graph >= 3.0.0"
)
ADD_REQUIRED_DEPENDENCY
(
"dynamic-graph-python >= 3.0.0"
)
ADD_REQUIRED_DEPENDENCY
(
"sot-core >= 3.0.0"
)
ADD_REQUIRED_DEPENDENCY
(
"sot-tools >= 2.0.0"
)
SET
(
BOOST_COMPONENTS filesystem system unit_test_framework
)
OPTION
(
BUILD_PYTHON_INTERFACE
"Build the python binding"
ON
)
IF
(
BUILD_PYTHON_INTERFACE
)
FINDPYTHON
()
ADD_REQUIRED_DEPENDENCY
(
"dynamic-graph-python >= 3.0.0"
)
SET
(
BOOST_COMPONENTS
${
BOOST_COMPONENTS
}
python
)
INCLUDE_DIRECTORIES
(
${
PYTHON_INCLUDE_PATH
}
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
# List plug-ins that will be compiled.
SET
(
plugins
zmpreffromcom
...
...
@@ -67,10 +77,6 @@ LIST(APPEND plugins dynamic)
# Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
PKG_CONFIG_APPEND_LIBS
(
${
LIBRARY_NAME
}
)
# Search for dependencies.
# Boost
SET
(
BOOST_COMPONENTS filesystem system unit_test_framework python
)
FINDPYTHON
()
SEARCH_FOR_BOOST
()
SEARCH_FOR_EIGEN
()
...
...
include/sot-dynamic-pinocchio/dynamic-pinocchio.h
View file @
f844c3b1
...
...
@@ -27,14 +27,11 @@
/* STD */
#include
<Python.h>
#include
<string>
#include
<map>
/* Matrix */
#include
<dynamic-graph/linear-algebra.h>
/*Python API*/
/* SOT */
#include
<sot/core/flags.hh>
#include
<dynamic-graph/entity.h>
...
...
python/CMakeLists.txt
View file @
f844c3b1
INSTALL
(
FILES kine_romeo.py kine_romeo_small.py
DESTINATION
${
PYTHON_SITELIB
}
/dynamic_graph/tutorial
)
IF
(
BUILD_PYTHON_INTERFACE
)
INSTALL
(
FILES kine_romeo.py kine_romeo_small.py
DESTINATION
${
PYTHON_SITELIB
}
/dynamic_graph/tutorial
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
src/CMakeLists.txt
View file @
f844c3b1
...
...
@@ -50,12 +50,14 @@ FOREACH(lib ${plugins})
INSTALL
(
TARGETS
${
libname
}
DESTINATION
${
DYNAMIC_GRAPH_PLUGINDIR
}
)
# build python submodule
STRING
(
REPLACE - _ PYTHON_LIBRARY_NAME
${
lib
}
)
IF
(
BUILD_PYTHON_INTERFACE
)
STRING
(
REPLACE - _ PYTHON_LIBRARY_NAME
${
lib
}
)
DYNAMIC_GRAPH_PYTHON_MODULE
(
"sot/dynamics_pinocchio/
${
PYTHON_LIBRARY_NAME
}
"
${
libname
}
sot-dynamic-pinocchio-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
DYNAMIC_GRAPH_PYTHON_MODULE
(
"sot/dynamics_pinocchio/
${
PYTHON_LIBRARY_NAME
}
"
${
libname
}
sot-dynamic-pinocchio-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
UNSET
(
{libname}
)
ENDFOREACH
(
lib
)
...
...
@@ -73,10 +75,12 @@ INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
TARGET_LINK_LIBRARIES
(
dp-dynamic
${
LIBRARY_NAME
}
)
# Install empty __init__.py files in intermediate directories.
INSTALL
(
FILES
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/__init__.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/tools.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/parser.py
DESTINATION
${
PYTHON_SITELIB
}
/dynamic_graph/sot/dynamics_pinocchio
)
IF
(
BUILD_PYTHON_INTERFACE
)
INSTALL
(
FILES
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/__init__.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/tools.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/dynamics_pinocchio/parser.py
DESTINATION
${
PYTHON_SITELIB
}
/dynamic_graph/sot/dynamics_pinocchio
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
unitTesting/CMakeLists.txt
View file @
f844c3b1
...
...
@@ -52,8 +52,6 @@ FOREACH(test ${tests})
SET
(
EXECUTABLE_NAME
"
${
test
}
_exe"
)
ADD_EXECUTABLE
(
${
EXECUTABLE_NAME
}
${
test
}
.cpp
)
MESSAGE
(
"PYTHON_INCLUDE_PATH:
${
PYTHON_INCLUDE_PATH
}
"
)
INCLUDE_DIRECTORIES
(
${
PYTHON_INCLUDE_PATH
}
)
TARGET_LINK_LIBRARIES
(
${
EXECUTABLE_NAME
}
dp-zmpreffromcom
...
...
@@ -70,7 +68,9 @@ FOREACH(test ${tests})
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
pinocchio
)
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
sot-core
)
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
dynamic-graph
)
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
dynamic-graph-python
)
IF
(
BUILD_PYTHON_INTERFACE
)
PKG_CONFIG_USE_DEPENDENCY
(
${
EXECUTABLE_NAME
}
dynamic-graph-python
)
ENDIF
(
BUILD_PYTHON_INTERFACE
)
IF
(
${
test
}
_plugins_dependencies
)
ADD_DEPENDENCIES
(
${
EXECUTABLE_NAME
}
"
${${
test
}
_plugins_dependencies
}
"
)
...
...
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