Various CMake cleanup

orocos_kdl/CMakeLists.txt

@@ -47,11 +47,11 @@ ELSE ( NOT CMAKE_BUILD_TYPE )
   MESSAGE( STATUS "Build type set to '${CMAKE_BUILD_TYPE}' by user." )
 ENDIF ( NOT CMAKE_BUILD_TYPE )
 
-IF(MSVC)
-    SET( KDL_CFLAGS "/W4 /WX" )
-ELSE(MSVC)
-    SET( KDL_CFLAGS "-Wall -Werror=all -Wextra -Werror=extra" )
-ENDIF(MSVC)
+if(MSVC)
+  add_compile_options(/W4 /WX)
+else(MSVC)
+  add_compile_options(-Wall -Werror=all -Wextra -Werror=extra)
+endif(MSVC)
 
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
@@ -63,8 +63,7 @@ SET(KDL_CFLAGS "${KDL_CFLAGS} -I${EIGEN3_INCLUDE_DIR}")
 # Check the platform STL containers capabilities
 include(cmake/CheckSTLContainers.cmake)
 CHECK_STL_CONTAINERS()
-
-# Set the default option appropriately
+# Set the default option accordingly
 if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
     set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT OFF)
 else(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
@@ -120,7 +119,7 @@ include(CMakePackageConfigHelpers)
 # Generate CMake package configuration
 configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl-config.cmake.in
   ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake
-  INSTALL_DESTINATION share/orocos_kdl/cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl
 )
 
 write_basic_package_version_file(
@@ -133,25 +132,25 @@ install(
   FILES
     ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake
     ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake
-  DESTINATION share/orocos_kdl/cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl
 )
 
-INSTALL(FILES cmake/FindEigen3.cmake DESTINATION share/orocos_kdl/cmake)
-INSTALL(EXPORT OrocosKDLTargets DESTINATION share/orocos_kdl/cmake)
+INSTALL(FILES cmake/FindEigen3.cmake DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl)
+INSTALL(EXPORT OrocosKDLTargets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl)
 
 # Generate pkg-config package configuration
 configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in
   ${PROJECT_BINARY_DIR}/orocos_kdl.pc
-  INSTALL_DESTINATION lib${LIB_SUFFIX}/pkgconfig
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
 )
 configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in
   ${PROJECT_BINARY_DIR}/orocos-kdl.pc
-  INSTALL_DESTINATION lib${LIB_SUFFIX}/pkgconfig
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
 )
 
 install(
   FILES
     ${PROJECT_BINARY_DIR}/orocos_kdl.pc
     ${PROJECT_BINARY_DIR}/orocos-kdl.pc
-  DESTINATION lib${LIB_SUFFIX}/pkgconfig
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
 )

orocos_kdl/src/CMakeLists.txt

@@ -58,7 +58,6 @@ TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC
 SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
   SOVERSION "${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}"
   VERSION "${KDL_VERSION}"
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}"
   PUBLIC_HEADER "${KDL_HPPS};${CMAKE_CURRENT_BINARY_DIR}/config.h"
   )
 

orocos_kdl/tests/CMakeLists.txt

@@ -5,58 +5,42 @@ IF(ENABLE_TESTS)
 
   ADD_EXECUTABLE(framestest framestest.cpp test-runner.cpp)
   TARGET_LINK_LIBRARIES(framestest orocos-kdl ${CPPUNIT})
-  SET(TESTNAME "framestest")
-  SET_TARGET_PROPERTIES( framestest PROPERTIES
-   COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(framestest PRIVATE TESTNAME="framestest")
   ADD_TEST(NAME framestest COMMAND framestest)
 
  ADD_EXECUTABLE(kinfamtest kinfamtest.cpp test-runner.cpp)
  TARGET_LINK_LIBRARIES(kinfamtest orocos-kdl ${CPPUNIT})
- SET(TESTNAME "kinfamtest")
- SET_TARGET_PROPERTIES( kinfamtest PROPERTIES
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}")
+  target_compile_definitions(kinfamtest PRIVATE TESTNAME="kinfamtest")
  ADD_TEST(NAME kinfamtest COMMAND kinfamtest)
 
  ADD_EXECUTABLE(solvertest solvertest.cpp test-runner.cpp)
  TARGET_LINK_LIBRARIES(solvertest orocos-kdl ${CPPUNIT})
- SET(TESTNAME "solvertest")
- SET_TARGET_PROPERTIES( solvertest PROPERTIES
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(solvertest PRIVATE TESTNAME="solvertest")
  ADD_TEST(NAME solvertest COMMAND solvertest)
 
  ADD_EXECUTABLE(inertiatest inertiatest.cpp test-runner.cpp)
  TARGET_LINK_LIBRARIES(inertiatest orocos-kdl ${CPPUNIT})
- SET(TESTNAME "inertiatest")
- SET_TARGET_PROPERTIES( inertiatest PROPERTIES
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(inertiatest PRIVATE TESTNAME="inertiatest")
  ADD_TEST(NAME inertiatest COMMAND inertiatest)
 
  ADD_EXECUTABLE(jacobiantest jacobiantest.cpp test-runner.cpp)
- SET(TESTNAME "jacobiantest")
  TARGET_LINK_LIBRARIES(jacobiantest orocos-kdl ${CPPUNIT})
- SET_TARGET_PROPERTIES( jacobiantest PROPERTIES
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(jacobiantest PRIVATE TESTNAME="jacobiantest")
  ADD_TEST(NAME jacobiantest COMMAND jacobiantest)
 
  ADD_EXECUTABLE(jacobiandottest jacobiandottest.cpp test-runner.cpp)
- SET(TESTNAME "jacobiandottest")
  TARGET_LINK_LIBRARIES(jacobiandottest orocos-kdl ${CPPUNIT})
- SET_TARGET_PROPERTIES( jacobiandottest PROPERTIES
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(jacobiandottest PRIVATE TESTNAME="jacobiandottest")
  ADD_TEST(NAME jacobiandottest COMMAND jacobiandottest)
 
  ADD_EXECUTABLE(velocityprofiletest velocityprofiletest.cpp test-runner.cpp)
- SET(TESTNAME "velocityprofiletest")
  TARGET_LINK_LIBRARIES(velocityprofiletest orocos-kdl ${CPPUNIT})
- SET_TARGET_PROPERTIES( velocityprofiletest PROPERTIES
-   COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(velocityprofiletest PRIVATE TESTNAME="velocityprofiletest")
  ADD_TEST(NAME velocityprofiletest COMMAND velocityprofiletest)
 
  ADD_EXECUTABLE(treeinvdyntest treeinvdyntest.cpp test-runner.cpp)
- SET(TESTNAME "treeinvdyntest")
  TARGET_LINK_LIBRARIES(treeinvdyntest orocos-kdl ${CPPUNIT})
- SET_TARGET_PROPERTIES( treeinvdyntest PROPERTIES
-   COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ")
+  target_compile_definitions(treeinvdyntest PRIVATE TESTNAME="treeinvdyntest")
  ADD_TEST(NAME treeinvdyntest COMMAND treeinvdyntest)
 
 #  ADD_EXECUTABLE(rallnumbertest  rallnumbertest.cpp)