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CMakeLists.txt
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#
# Copyright (c) 2015-2019 CNRS INRIA
# Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
# Check if the submodule cmake have been initialized
IF(NOT EXISTS "${PROJECT_SOURCE_DIR}/cmake/base.cmake")
MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
ENDIF()
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/ide.cmake)
INCLUDE(cmake/apple.cmake)
SET(PROJECT_NAME pinocchio)
SET(PROJECT_DESCRIPTION "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives")
SET(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
SET(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
SET(DOXYGEN_USE_MATHJAX YES)
# If needed, fix CMake policy for APPLE systems
APPLY_DEFAULT_APPLE_CONFIGURATION()
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
SETUP_PROJECT()
IF(WIN32)
SET(LINK copy_if_different)
ELSE(WIN32)
SET(LINK create_symlink)
ENDIF(WIN32)
# --- OPTIONS ----------------------------------------
OPTION (BUILD_BENCHMARK "Build the benchmarks" OFF)
OPTION (BUILD_UNIT_TESTS "Build the unitary tests" OFF)
OPTION (BUILD_UTILS "Build the utils" OFF)
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
OPTION (BUILD_WITH_LUA_SUPPORT "Build the lua parser" OFF)
OPTION (BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF)
# --- OPTIONAL DEPENDENCIES -------------------------
OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the Collision support (required HPP-FCL)" OFF)
OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the Automatic Differentiation support" OFF)
OPTION(BUILD_WITH_CASADI_SUPPORT "Build the library with the CASADI support" OFF)
OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the Code Generation support" OFF)
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
IF (INITIALIZE_WITH_NAN)
MESSAGE (STATUS "Initialize with NaN all the Eigen entries.")
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF (INITIALIZE_WITH_NAN)
SET(BUILD_TESTING ${BUILD_UNIT_TESTS})
MACRO(TAG_LIBRARY_VERSION target)
SET_TARGET_PROPERTIES(${target} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDMACRO(TAG_LIBRARY_VERSION)
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
IF(BUILD_WITH_URDF_SUPPORT)
ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.0")
ENDIF(BUILD_WITH_URDF_SUPPORT)
IF(BUILD_WITH_COLLISION_SUPPORT)
ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 1.0.0")
ENDIF(BUILD_WITH_COLLISION_SUPPORT)
IF(BUILD_WITH_AUTODIFF_SUPPORT)
ADD_REQUIRED_DEPENDENCY("cppad >= 20180000.0")
ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
IF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPAD_SUPPORT)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPAD_SUPPORT")
IF(NOT ${CPPAD_VERSION} VERSION_GREATER "3.3.0")
ADD_DEFINITIONS(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN")
ENDIF(NOT ${CPPAD_VERSION} VERSION_GREATER "3.3.0")
IF(BUILD_WITH_CODEGEN_SUPPORT)
ADD_OPTIONAL_DEPENDENCY("cppadcg")
ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPADCG_SUPPORT)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPADCG_SUPPORT")
ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
ENDIF(CPPAD_FOUND AND BUILD_WITH_AUTODIFF_SUPPORT)
IF(BUILD_WITH_CASADI_SUPPORT)
ADD_REQUIRED_DEPENDENCY("casadi >= 3.4.5")
ENDIF(BUILD_WITH_CASADI_SUPPORT)
IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_CASADI_SUPPORT)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CASADI_SUPPORT")
ENDIF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
# Special care of urdfdom version
IF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
ADD_DEFINITIONS(-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME")
ENDIF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
# defines types from version 0.4.0
IF(NOT ${URDFDOM_VERSION} VERSION_LESS "0.4.0")
ADD_DEFINITIONS(-DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR")
ENDIF(NOT ${URDFDOM_VERSION} VERSION_LESS "0.4.0")
# std::shared_ptr appears from version 1.0.0
IF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
ADD_DEFINITIONS(-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR")
ENDIF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
ENDIF(URDFDOM_FOUND AND BUILD_WITH_URDF_SUPPORT)
# Special care of lua which can be of versions 5.1 or 5.2
# Priority is set to lua5.2
IF(BUILD_WITH_LUA_SUPPORT)
ADD_OPTIONAL_DEPENDENCY("lua5.2")
IF(LUA5_2_FOUND)
SET(LUA5_FOUND TRUE)
SET(LUA5_PACKAGE "lua5.2")
ADD_DEFINITIONS(-DPINOCCHIO_LUA_VERSION_GREATER_5_2)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_LUA_VERSION_GREATER_5_2")
ELSE(LUA5_2_FOUND)
ADD_OPTIONAL_DEPENDENCY("lua5.1")
IF(LUA5_1_FOUND)
SET(LUA5_FOUND TRUE)
SET(LUA5_PACKAGE "lua5.1")
ELSE(LUA5_1_FOUND)
MESSAGE(FATAL_ERROR "Cannot find a suitable version of Lua 5.1 or 5.2")
ENDIF(LUA5_1_FOUND)
ENDIF(LUA5_2_FOUND)
ENDIF(BUILD_WITH_LUA_SUPPORT)
SET(BOOST_REQUIERED_COMPONENTS filesystem serialization system)
SET(BOOST_BUILD_COMPONENTS unit_test_framework)
SET(BOOST_OPTIONAL_COMPONENTS "")
IF(BUILD_PYTHON_INTERFACE)
SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS} python)
FINDPYTHON()
INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
ENDIF(BUILD_PYTHON_INTERFACE)
SET(BOOST_COMPONENTS ${BOOST_REQUIERED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
SEARCH_FOR_BOOST()
# Enforce the preprocessed version of boost::list and boost::vector
# This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp
# but it avoids any compilation issue.
ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_LIST_SIZE=30)
ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_VECTOR_SIZE=30)
# Variable containing all the cflags definition relative to optional dependencies
SET(CFLAGS_DEPENDENCIES)
LIST(APPEND CFLAGS_DEPENDENCIES "-DBOOST_MPL_LIMIT_LIST_SIZE=30")
LIST(APPEND CFLAGS_DEPENDENCIES "-DBOOST_MPL_LIMIT_VECTOR_SIZE=30")
# Path to boost headers
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
FILE(GLOB_RECURSE HEADERS
${PROJECT_SOURCE_DIR}/src/*.hpp
${PROJECT_SOURCE_DIR}/src/*.hxx
)
IF(URDFDOM_FOUND)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM)
LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
ELSE(URDFDOM_FOUND)
LIST(REMOVE_ITEM HEADERS
${PROJECT_SOURCE_DIR}/src/parsers/urdf.hpp
${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.hxx
${PROJECT_SOURCE_DIR}/src/parsers/urdf/geometry.hxx
${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.hpp
${PROJECT_SOURCE_DIR}/src/parsers/urdf/types.hpp
)
ENDIF(URDFDOM_FOUND)
IF(HPP_FCL_FOUND)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
ELSE(HPP_FCL_FOUND)
LIST(REMOVE_ITEM HEADERS
${PROJECT_SOURCE_DIR}/src/spatial/fcl-pinocchio-conversions.hpp
)
ENDIF(HPP_FCL_FOUND)
IF(LUA5_FOUND)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_LUA5)
LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_LUA5")
ELSE(LUA5_FOUND)
LIST(REMOVE_ITEM HEADERS
${PROJECT_SOURCE_DIR}/src/parsers/lua.hpp
${PROJECT_SOURCE_DIR}/src/parsers/lua/lua_tables.hpp
)
ENDIF(LUA5_FOUND)
LIST(APPEND HEADERS
exception.hpp
macros.hpp
)
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/core")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/math")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/spatial")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/joint")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/liegroup")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/lua")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/urdf")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/utils")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/serialization")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/algorithm")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/container")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/codegen")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff")
SET(HEADERS_)
FOREACH(header ${HEADERS})
STRING(REGEX REPLACE "${PROJECT_SOURCE_DIR}/src/" "" header ${header})
LIST(APPEND HEADERS_ ${header})
GET_FILENAME_COMPONENT(headerName ${header} NAME)
GET_FILENAME_COMPONENT(headerPath ${header} PATH)
EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${header})
INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${headerPath}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
ENDFOREACH(header)
SET(HEADERS ${HEADERS_})
# --- MAIN LIBRARY -------------------------------------------------------------
ADD_SUBDIRECTORY(src)
# --- BINDINGS -----------------------------------------------------------------
ADD_SUBDIRECTORY(bindings)
# --- EXECUTABLES --------------------------------------------------------------
ADD_SUBDIRECTORY(utils)
# --- UNIT TESTS ---------------------------------------------------------------
ADD_SUBDIRECTORY(unittest)
# --- CHECK EXAMPLES -----------------------------------------------------------
ADD_SUBDIRECTORY(examples)
# --- BENCHMARKS ---------------------------------------------------------------
ADD_SUBDIRECTORY(benchmark)
# --- PACKAGING ----------------------------------------------------------------
PKG_CONFIG_APPEND_LIBS (${PROJECT_NAME})
PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_REQUIERED_COMPONENTS})
FOREACH(cflags ${CFLAGS_DEPENDENCIES})
PKG_CONFIG_APPEND_CFLAGS(${cflags})
ENDFOREACH(cflags ${CFLAGS_DEPENDENCIES})
SETUP_PROJECT_FINALIZE()