[CMake] clean

CMakeLists.txt

@@ -4,18 +4,6 @@
 # Florent Forget, LAAS/CNRS
 # Paul Dandignac, LAAS/CNRS
 #
-# This file is part of sot-torque-control.
-# sot-torque-control 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-torque-control 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-torque-control. If not, see <http://www.gnu.org/licenses/>.
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
@@ -30,14 +18,12 @@ SET(PROJECT_NAME sot-torque-control)
 SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing torque control on different robots.")
 SET(PROJECT_URL "https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
 
-SET(CUSTOM_HEADER_DIR "sot/torque-control")
+SET(CUSTOM_HEADER_DIR "sot/torque_control")
 
 SET(DOXYGEN_USE_MATHJAX YES)
 
 # Disable -Werror on Unix for now.
 SET(CXX_DISABLE_WERROR True)
-#add_compile_options(-std=c++11) # CMake 2.8.12 or newer
-#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 
 SET(PKG_CONFIG_ADDITIONAL_VARIABLES
   ${PKG_CONFIG_ADDITIONAL_VARIABLES}
@@ -67,9 +53,9 @@ IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
-  SET(${LIBRARY_NAME}_PYTHON_FILES python/*.py)
-  SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph/sot/torque_control)
-  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIR})
+  SET(PYTHON_LIBRARY_DIR dynamic_graph/sot/torque_control)
+  SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${PYTHON_LIBRARY_DIR})
+  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIR})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SEARCH_FOR_BOOST()
@@ -87,134 +73,15 @@ ADD_OPTIONAL_DEPENDENCY("ddp-actuator-solver")
 SET(SOTTORQUECONTROL_LIB_NAME ${PROJECT_NAME})
 SET(LIBRARY_NAME ${SOTTORQUECONTROL_LIB_NAME})
 
-SET(${LIBRARY_NAME}_HEADERS
-  include/sot/torque_control/joint-torque-controller.hh
-  include/sot/torque_control/base-estimator.hh
-  include/sot/torque_control/numerical-difference.hh
-  include/sot/torque_control/motor-model.hh
-  include/sot/torque_control/joint-trajectory-generator.hh
-  include/sot/torque_control/se3-trajectory-generator.hh
-  include/sot/torque_control/free-flyer-locator.hh
-  include/sot/torque_control/inverse-dynamics-balance-controller.hh
-  include/sot/torque_control/position-controller.hh
-  include/sot/torque_control/control-manager.hh
-  include/sot/torque_control/current-controller.hh
-  include/sot/torque_control/commands-helper.hh
-  include/sot/torque_control/device-torque-ctrl.hh
-  include/sot/torque_control/trace-player.hh
-  include/sot/torque_control/torque-offset-estimator.hh
-  include/sot/torque_control/imu_offset_compensation.hh
-  include/sot/torque_control/admittance-controller.hh
-  include/sot/torque_control/utils/trajectory-generators.hh
-  include/sot/torque_control/utils/lin-estimator.hh
-  include/sot/torque_control/utils/poly-estimator.hh
-  include/sot/torque_control/utils/quad-estimator.hh
-  include/sot/torque_control/utils/Stdafx.hh
-  include/sot/torque_control/utils/vector-conversions.hh
-  )
-
-#INSTALL(FILES ${${LIBRARY_NAME}_HEADERS}
-#  DESTINATION include/sot/torque-control
-#  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-
-SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
-    src/trajectory-generators.cpp
-    src/lin-estimator.cpp
-    src/poly-estimator.cpp
-    src/quad-estimator.cpp
-    src/motor-model.cpp
-)
-
-
-ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
-
-SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-  PROPERTIES
-  SOVERSION ${PROJECT_VERSION}
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
-
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} tsid)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
-
 IF(BUILD_PYTHON_INTERFACE)
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
+  ADD_SUBDIRECTORY(python/${PYTHON_LIBRARY_DIR})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-
-IF(UNIX)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
-ENDIF(UNIX)
-
-IF(UNIX AND NOT APPLE)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
-ENDIF(UNIX AND NOT APPLE)
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
-IF(BUILD_PYTHON_INTERFACE)
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/__init__.py
-                python/dynamic_graph/sot/torque_control/main.py
-                python/dynamic_graph/sot/torque_control/create_entities_utils.py
-                python/dynamic_graph/sot/torque_control/main_sim.py
-                DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control)
-
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/identification/__init__.py
-                python/dynamic_graph/sot/torque_control/identification/identification_utils.py
-                DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/identification)
-
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/utils/__init__.py
-                python/dynamic_graph/sot/torque_control/utils/plot_utils.py
-                python/dynamic_graph/sot/torque_control/utils/sot_utils.py
-                python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-                DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils)
-
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/tests/__init__.py
-                python/dynamic_graph/sot/torque_control/tests/test_control_manager.py
-                python/dynamic_graph/sot/torque_control/tests/test_balance_ctrl_openhrp.py
-                python/dynamic_graph/sot/torque_control/tests/test_velocity_filters.py
-                DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-ENDIF(BUILD_PYTHON_INTERFACE)
-
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(unitTesting)
 
-# *****************************
-# PYTHON interface            *
-# *****************************
-IF(BUILD_PYTHON_INTERFACE)
-
-  IF(TALOS_DATA_FOUND)
-    FOREACH(py_filename test_torque_offset_estimator)
-      CONFIGURE_FILE(
-        ${PROJECT_SOURCE_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py.in
-        ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        )
-
-      INSTALL(FILES ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-
-
-    ENDFOREACH(py_filename)
-  ENDIF(TALOS_DATA_FOUND)
-
-  IF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
-    FOREACH(py_filename robot_data_test)
-      CONFIGURE_FILE(
-        ${PROJECT_SOURCE_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py.in
-        ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        )
-      INSTALL(FILES ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-    ENDFOREACH(py_filename)
-  ENDIF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
-ENDIF(BUILD_PYTHON_INTERFACE)
-
-
 SETUP_PROJECT_FINALIZE()

include/sot/torque_control/CMakeLists.txt

+SET(${LIBRARY_NAME}_HEADERS
+  joint-torque-controller.hh
+  base-estimator.hh
+  numerical-difference.hh
+  motor-model.hh
+  joint-trajectory-generator.hh
+  se3-trajectory-generator.hh
+  free-flyer-locator.hh
+  inverse-dynamics-balance-controller.hh
+  position-controller.hh
+  control-manager.hh
+  current-controller.hh
+  commands-helper.hh
+  device-torque-ctrl.hh
+  trace-player.hh
+  torque-offset-estimator.hh
+  imu_offset_compensation.hh
+  admittance-controller.hh
+  utils/trajectory-generators.hh
+  utils/lin-estimator.hh
+  utils/poly-estimator.hh
+  utils/quad-estimator.hh
+  utils/Stdafx.hh
+  utils/vector-conversions.hh
+  )
+
+INSTALL(FILES ${${LIBRARY_NAME}_HEADERS} DESTINATION include/${CUSTOM_HEADER_DIR})

python/dynamic_graph/sot/torque_control/CMakeLists.txt

+INSTALL(FILES
+  __init__.py
+  main.py
+  create_entities_utils.py
+  main_sim.py
+  DESTINATION ${PYTHON_INSTALL_DIR})
+
+INSTALL(FILES
+  identification/__init__.py
+  identification/identification_utils.py
+  DESTINATION ${PYTHON_INSTALL_DIR}/identification)
+
+INSTALL(FILES
+  utils/__init__.py
+  utils/plot_utils.py
+  utils/sot_utils.py
+  utils/filter_utils.py
+  DESTINATION ${PYTHON_INSTALL_DIR}/utils)
+
+INSTALL(FILES
+  tests/__init__.py
+  tests/test_control_manager.py
+  tests/test_balance_ctrl_openhrp.py
+  tests/test_velocity_filters.py
+  DESTINATION ${PYTHON_INSTALL_DIR}/tests)
+
+
+SET(${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES)
+
+IF(TALOS_DATA_FOUND)
+  SET(${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES
+    ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES}
+    test_torque_offset_estimator
+    )
+ENDIF(TALOS_DATA_FOUND)
+
+IF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
+  SET(${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES
+    ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES}
+    robot_data_test
+    )
+ENDIF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
+
+FOREACH(py_filename ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES})
+  CONFIGURE_FILE(
+    tests/${py_filename}.py.in
+    tests/${py_filename}.py
+    )
+
+  INSTALL(FILES tests/${py_filename}.py DESTINATION ${PYTHON_INSTALL_DIR}/tests)
+ENDFOREACH(py_filename ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES})

src/CMakeLists.txt

 # Copyright 2014, Andrea Del Prete, LAAS/CNRS
 #
-# This file is part of sot-torque-control.
-# sot-torque-control 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-torque-control 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-torque-control. If not, see <http://www.gnu.org/licenses/>.
 
 # Verbosity level
 IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
   ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
 ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
 
-# The main include dir
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+IF(UNIX)
+  ADD_DEFINITIONS(-pthread)
+ENDIF(UNIX)
+
+SET(${LIBRARY_NAME}_SOURCES
+  trajectory-generators.cpp
+  lin-estimator.cpp
+  poly-estimator.cpp
+  quad-estimator.cpp
+  motor-model.cpp
+  )
+
+ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
+
+SET_TARGET_PROPERTIES(${LIBRARY_NAME}
+  PROPERTIES
+  SOVERSION ${PROJECT_VERSION}
+  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} tsid)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
+
 IF(BUILD_PYTHON_INTERFACE)
-  LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
+  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-#define DEBUG=2 if we're building in debug mode (what for?)
-IF("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
-  ADD_DEFINITIONS(-DDEBUG=2)
-ENDIF ("${CMAKE_BUILD_TYPE}" STREQUAL DEBUG)
-
 IF(UNIX)
-  ADD_DEFINITIONS(-pthread)
+  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
+  IF(NOT APPLE)
+    TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
+  ENDIF(NOT APPLE)
 ENDIF(UNIX)
 
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
+
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
+
 #This project will create many plugins as shared libraries, listed here
 SET(plugins
-  admittance-controller  
+  admittance-controller
   base-estimator
   control-manager
   current-controller
-  device-torque-ctrl  
+  device-torque-ctrl
   free-flyer-locator
-  imu_offset_compensation  
+  imu_offset_compensation
   inverse-dynamics-balance-controller
   joint-torque-controller
   joint-trajectory-generator
-  numerical-difference  
-  position-controller  
+  numerical-difference
+  position-controller
   se3-trajectory-generator
   torque-offset-estimator
   trace-player
@@ -61,7 +77,7 @@ ENDIF(DDP_ACTUATOR_SOLVER_FOUND)
 FOREACH(plugin ${plugins})
 
   message( " Build plugin ${plugin}")
-  
+
   #retrieve plugin name
   GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
 
@@ -136,5 +152,5 @@ IF(BUILD_PYTHON_INTERFACE)
   INSTALL(FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/torque_control/__init__.py
     DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control
-  )
+    )
 ENDIF(BUILD_PYTHON_INTERFACE)