-
Guilhem Saurel authored
merge #218 from master into devel
Guilhem Saurel authoredmerge #218 from master into devel
CMakeLists.txt 13.34 KiB
#
# Copyright (c) 2017-2021 CNRS
#
# This file is part of tsid tsid 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. tsid 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 tsid If not, see
# <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 3.10)
# Project properties
set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME tsid)
set(PROJECT_DESCRIPTION
"Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio"
)
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(INSTALL_DOCUMENTATION "Build and install the documentation" OFF)
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
option(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
option(EIGEN_RUNTIME_NO_MALLOC
"If ON, it can assert in case of runtime allocation" ON)
option(EIGEN_NO_AUTOMATIC_RESIZING
"If ON, it forbids automatic resizing of dynamics arrays and matrices"
OFF)
option(BUILD_WITH_PROXQP "Support using the proxqp solver" OFF)
option(BUILD_WITH_OSQP "Support using the osqp solver" OFF)
# With pos, vel, acc awaiting renaming (e.g. in trajectory-base), we are
# producing a ton of deprecation warnings. Ignoring them for now; remove this
# once pos, vel, acc are renamed.
add_definitions(-Wno-deprecated-declarations)
# We frequently convert between signed and unsigned integers for Eigen::Index.
# Ignore them for now.
add_definitions(-Wno-sign-conversion)
# Project configuration
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(CXX_DISABLE_WERROR TRUE)
set(DOXYGEN_USE_MATHJAX YES)
set(CMAKE_VERBOSE_MAKEFILE TRUE)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
get_property(
JRL_CMAKE_MODULES
TARGET jrl-cmakemodules::jrl-cmakemodules
PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nCan't find jrl-cmakemodules. Please either:\n" " - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/base.cmake")
include("${JRL_CMAKE_MODULES}/ide.cmake")
include("${JRL_CMAKE_MODULES}/apple.cmake")
set_default_cmake_build_type("RelWithDebInfo")
# Handle APPLE Cmake policy
if(APPLE)
apply_default_apple_configuration()
endif(APPLE)
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
if(INITIALIZE_WITH_NAN)
message(STATUS "Initialize with NaN all the Eigen entries.")
add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
endif(INITIALIZE_WITH_NAN)
if(EIGEN_RUNTIME_NO_MALLOC)
message(STATUS "Option EIGEN_RUNTIME_NO_MALLOC on.")
add_definitions(-DEIGEN_RUNTIME_NO_MALLOC)
endif(EIGEN_RUNTIME_NO_MALLOC)
if(EIGEN_NO_AUTOMATIC_RESIZING)
message(STATUS "Option EIGEN_NO_AUTOMATIC_RESIZING on.")
add_definitions(-DEIGEN_NO_AUTOMATIC_RESIZING)
endif(EIGEN_NO_AUTOMATIC_RESIZING)
check_minimal_cxx_standard(17 ENFORCE)
# Project dependencies
if(BUILD_PYTHON_INTERFACE)
set(PYWRAP ${PROJECT_NAME}_pywrap)
add_project_dependency(eigenpy 2.7.12 REQUIRED)
endif(BUILD_PYTHON_INTERFACE)
add_project_dependency(pinocchio 2.3.1 REQUIRED)
add_project_dependency(eiquadprog 1.1.3 REQUIRED)
find_package(qpmad QUIET) # optional
if(qpmad_FOUND)
message(STATUS "qpmad found - building with qpmad support")
add_project_dependency(qpmad QUIET)
endif()
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
endif(BUILD_TESTING)
# Main Library
set(${PROJECT_NAME}_MATH_HEADERS
include/tsid/math/fwd.hpp
include/tsid/math/utils.hpp include/tsid/math/constraint-base.hpp
include/tsid/math/constraint-equality.hpp
include/tsid/math/constraint-inequality.hpp
include/tsid/math/constraint-bound.hpp)
set(${PROJECT_NAME}_TASKS_HEADERS
include/tsid/tasks/fwd.hpp
include/tsid/tasks/task-base.hpp
include/tsid/tasks/task-motion.hpp
include/tsid/tasks/task-actuation.hpp
include/tsid/tasks/task-contact-force.hpp
include/tsid/tasks/task-com-equality.hpp
include/tsid/tasks/task-se3-equality.hpp
include/tsid/tasks/task-contact-force-equality.hpp
include/tsid/tasks/task-cop-equality.hpp
include/tsid/tasks/task-actuation-equality.hpp
include/tsid/tasks/task-actuation-bounds.hpp
include/tsid/tasks/task-joint-bounds.hpp
include/tsid/tasks/task-joint-posture.hpp
include/tsid/tasks/task-joint-posVelAcc-bounds.hpp
include/tsid/tasks/task-capture-point-inequality.hpp
include/tsid/tasks/task-angular-momentum-equality.hpp
include/tsid/tasks/task-two-frames-equality.hpp)
set(${PROJECT_NAME}_CONTACTS_HEADERS
include/tsid/contacts/fwd.hpp
include/tsid/contacts/contact-base.hpp
include/tsid/contacts/contact-6d.hpp
include/tsid/contacts/contact-point.hpp
include/tsid/contacts/measured-force-base.hpp
include/tsid/contacts/measured-3Dforce.hpp
include/tsid/contacts/measured-6Dwrench.hpp
include/tsid/contacts/contact-two-frame-positions.hpp)
set(${PROJECT_NAME}_TRAJECTORIES_HEADERS
include/tsid/trajectories/fwd.hpp
include/tsid/trajectories/trajectory-base.hpp
include/tsid/trajectories/trajectory-se3.hpp
include/tsid/trajectories/trajectory-euclidian.hpp)
set(${PROJECT_NAME}_SOLVERS_HEADERS
include/tsid/solvers/fwd.hpp
include/tsid/solvers/utils.hpp
include/tsid/solvers/solver-qpData.hpp
include/tsid/solvers/solver-HQP-output.hpp
include/tsid/solvers/solver-HQP-base.hpp
include/tsid/solvers/solver-HQP-factory.hpp
include/tsid/solvers/solver-HQP-factory.hxx
include/tsid/solvers/solver-HQP-qpoases.hpp
include/tsid/solvers/solver-HQP-eiquadprog.hpp
include/tsid/solvers/solver-HQP-eiquadprog-rt.hpp
include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
include/tsid/solvers/solver-HQP-eiquadprog-fast.hpp)
if(BUILD_WITH_PROXQP)
find_package(proxsuite REQUIRED)
list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
include/tsid/solvers/solver-proxqp.hpp)
# Determine whether ot use the default target or the vectorized target, if
# available
set(proxsuite_INTERFACE proxsuite::proxsuite)
if(NOT TARGET proxsuite::proxsuite-vectorized)
message(
STATUS
"proxsuite::proxsuite-vectorized not available - defaulting to non-vectorized ProxQP"
)
else()
set(proxsuite_INTERFACE proxsuite::proxsuite-vectorized)
endif()endif()
if(BUILD_WITH_OSQP)
find_package(OsqpEigen REQUIRED)
list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
include/tsid/solvers/solver-osqp.hpp)
endif()
if(qpmad_FOUND)
list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
include/tsid/solvers/solver-HQP-qpmad.hpp)
endif()
set(${PROJECT_NAME}_ROBOTS_HEADERS include/tsid/robots/fwd.hpp
include/tsid/robots/robot-wrapper.hpp)
set(${PROJECT_NAME}_FORMULATIONS_HEADERS
include/tsid/formulations/contact-level.hpp
include/tsid/formulations/inverse-dynamics-formulation-base.hpp
include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp)
file(
GLOB
${PYWRAP}_HEADERS
include/tsid/bindings/python/fwd.hpp
include/tsid/bindings/python/constraint/*.hpp
include/tsid/bindings/python/contacts/*.hpp
include/tsid/bindings/python/formulations/*.hpp
include/tsid/bindings/python/robots/*.hpp
include/tsid/bindings/python/solvers/*.hpp
include/tsid/bindings/python/tasks/*.hpp
include/tsid/bindings/python/trajectories/*.hpp
include/tsid/bindings/python/utils/*.hpp
include/tsid/bindings/python/math/*.hpp)
set(${PROJECT_NAME}_HEADERS
include/tsid/macros.hpp
include/tsid/utils/statistics.hpp
include/tsid/utils/stop-watch.hpp
include/tsid/utils/Stdafx.hh
${${PROJECT_NAME}_MATH_HEADERS}
${${PROJECT_NAME}_TASKS_HEADERS}
${${PROJECT_NAME}_CONTACTS_HEADERS}
${${PROJECT_NAME}_TRAJECTORIES_HEADERS}
${${PROJECT_NAME}_SOLVERS_HEADERS}
${${PROJECT_NAME}_ROBOTS_HEADERS}
${${PROJECT_NAME}_FORMULATIONS_HEADERS})
list(REMOVE_DUPLICATES ${PROJECT_NAME}_HEADERS)
set(${PROJECT_NAME}_MATH_SOURCES
src/math/constraint-base.cpp src/math/constraint-equality.cpp
src/math/constraint-inequality.cpp src/math/constraint-bound.cpp
src/math/utils.cpp)
set(${PROJECT_NAME}_TASKS_SOURCES
src/tasks/task-base.cpp
src/tasks/task-actuation-bounds.cpp
src/tasks/task-actuation-equality.cpp
src/tasks/task-actuation.cpp
src/tasks/task-com-equality.cpp
src/tasks/task-contact-force-equality.cpp
src/tasks/task-contact-force.cpp
src/tasks/task-cop-equality.cpp
src/tasks/task-joint-bounds.cpp
src/tasks/task-joint-posture.cpp
src/tasks/task-joint-posVelAcc-bounds.cpp
src/tasks/task-capture-point-inequality.cpp
src/tasks/task-motion.cpp
src/tasks/task-se3-equality.cpp src/tasks/task-angular-momentum-equality.cpp
src/tasks/task-two-frames-equality.cpp)
set(${PROJECT_NAME}_CONTACTS_SOURCES
src/contacts/contact-base.cpp
src/contacts/contact-6d.cpp
src/contacts/contact-point.cpp
src/contacts/measured-force-base.cpp
src/contacts/measured-3Dforce.cpp
src/contacts/measured-6Dwrench.cpp
src/contacts/contact-two-frame-positions.cpp)
set(${PROJECT_NAME}_TRAJECTORIES_SOURCES
src/trajectories/trajectory-se3.cpp
src/trajectories/trajectory-euclidian.cpp)
set(${PROJECT_NAME}_SOLVERS_SOURCES
src/solvers/solver-HQP-base.cpp
src/solvers/solver-HQP-factory.cpp
src/solvers/solver-HQP-eiquadprog.cpp
src/solvers/solver-HQP-eiquadprog-fast.cpp
src/solvers/solver-HQP-qpoases.cpp
src/solvers/utils.cpp)
if(BUILD_WITH_PROXQP)
list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-proxqp.cpp)
endif()
if(BUILD_WITH_OSQP)
list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-osqp.cpp)
endif()
if(qpmad_FOUND)
list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-HQP-qpmad.cpp)
endif()
set(${PROJECT_NAME}_ROBOTS_SOURCES src/robots/robot-wrapper.cpp)
set(${PROJECT_NAME}_FORMULATIONS_SOURCES
src/formulations/contact-level.cpp
src/formulations/inverse-dynamics-formulation-base.cpp
src/formulations/inverse-dynamics-formulation-acc-force.cpp)
set(${PROJECT_NAME}_SOURCES
src/utils/statistics.cpp
src/utils/stop-watch.cpp
${${PROJECT_NAME}_MATH_SOURCES}
${${PROJECT_NAME}_TASKS_SOURCES}
${${PROJECT_NAME}_CONTACTS_SOURCES}
${${PROJECT_NAME}_TRAJECTORIES_SOURCES}
${${PROJECT_NAME}_SOLVERS_SOURCES}
${${PROJECT_NAME}_ROBOTS_SOURCES}
${${PROJECT_NAME}_FORMULATIONS_SOURCES})
add_header_group(${PROJECT_NAME}_HEADERS)
add_source_group(${PROJECT_NAME}_SOURCES)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(
${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio
eiquadprog::eiquadprog)
if(BUILD_WITH_PROXQP)
target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_PROXSUITE)
target_link_libraries(${PROJECT_NAME} PUBLIC ${proxsuite_INTERFACE})
endif()
if(BUILD_WITH_OSQP) target_link_libraries(${PROJECT_NAME} PUBLIC OsqpEigen::OsqpEigen)
target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_OSQP)
endif()
if(qpmad_FOUND)
target_include_directories(${PROJECT_NAME} PUBLIC ${qpmad_INCLUDE_DIRS})
target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_QPMAD_FOUND)
endif()
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(bindings)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
# --- PACKAGING ----------------------------------------------------------------
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)