Merge pull request #26 from Simple-Robotics/topic/ndcurves-fetchcontent

Fetch `ndcurves` if not found

Author: ManifoldFR

CMakeLists.txt

@@ -92,19 +92,19 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
   )
 endif()
 
-find_package(example-robot-data 4.0.9 REQUIRED)
-ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
-ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
-ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(aligator REQUIRED)
-ADD_PROJECT_DEPENDENCY(ndcurves REQUIRED)
+include(dependencies.cmake)
 
 # Main Library
 file(GLOB mpc_SOURCE CONFIGURE_DEPENDS src/*.cpp)
 file(GLOB mpc_HEADER CONFIGURE_DEPENDS include/${PROJECT_NAME}/*.hpp)
 
 add_library(${PROJECT_NAME} SHARED ${mpc_HEADER} ${mpc_SOURCE})
-target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_include_directories(
+  ${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC

dependencies.cmake

@@ -0,0 +1,28 @@
+find_package(example-robot-data 4.0.9 REQUIRED)
+ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
+ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
+ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
+ADD_PROJECT_DEPENDENCY(aligator REQUIRED)
+
+function(get_ndcurves)
+  find_package(ndcurves QUIET)
+  if(NOT ndcurves_FOUND)
+    FetchContent_Declare(
+      ndcurves
+      GIT_REPOSITORY "https://github.com/loco-3d/ndcurves"
+      GIT_PROGRESS True
+      GIT_TAG devel
+      SYSTEM
+      EXCLUDE_FROM_ALL
+    )
+    set(PROJECT_CUSTOM_HEADER_DIR)
+    set(PROJECT_CUSTOM_HEADER_EXTENSION)
+    set(BUILD_PYTHON_INTERFACE OFF)
+    set(BUILD_TESTING OFF)
+    FetchContent_MakeAvailable(ndcurves)
+    add_library(ndcurves::ndcurves ALIAS ndcurves)
+    install(TARGETS ndcurves EXPORT ${TARGETS_EXPORT_NAME})
+  endif()
+endfunction()
+
+get_ndcurves()

include/simple-mpc/foot-trajectory.hpp

@@ -6,8 +6,7 @@
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef SIMPLE_MPC_FOOTTRAJ_HPP_
-#define SIMPLE_MPC_FOOTTRAJ_HPP_
+#pragma once
 
 #include "simple-mpc/fwd.hpp"
 #include <ndcurves/fwd.h>
@@ -19,14 +18,11 @@ namespace simple_mpc
    * @brief Foot trajectory generation
    */
 
-  typedef Eigen::Vector3d point3_t;
-  typedef ndcurves::bezier_curve<float, double, false, point3_t> curve_translation;
-  typedef ndcurves::piecewise_curve<float, double, false, point3_t> piecewise_curve;
+  using point3_t = Eigen::Vector3d;
+  using piecewise_curve = ndcurves::piecewise_curve<float, double, false, point3_t>;
 
   class FootTrajectory
   {
-    /**
-     */
   protected:
     std::map<std::string, point3_t> initial_poses_;
     std::map<std::string, point3_t> final_poses_;
@@ -38,18 +34,21 @@ namespace simple_mpc
     size_t T_;
 
   public:
-    FootTrajectory() {};
-    virtual ~FootTrajectory() {};
+    explicit FootTrajectory() {};
     FootTrajectory(
       const std::map<std::string, point3_t> & initial_poses, double swing_apex, int T_fly, int T_contact, size_t T);
+    virtual ~FootTrajectory() {};
 
     void updateApex(double swing_apex)
     {
       swing_apex_ = swing_apex;
     }
+
     piecewise_curve defineTranslationBezier(const point3_t & trans_init, const point3_t & trans_final);
+
     std::vector<point3_t> createTrajectory(
       int time_to_land, point3_t & initial_trans, point3_t & final_trans, piecewise_curve trajectory_swing);
+
     void updateTrajectory(
       bool update,
       int landing_time,
@@ -63,9 +62,3 @@ namespace simple_mpc
   };
 
 } // namespace simple_mpc
-
-/* --- Details -------------------------------------------------------------- */
-/* --- Details -------------------------------------------------------------- */
-/* --- Details -------------------------------------------------------------- */
-
-#endif // SIMPLE_MPC_HPP_

src/foot-trajectory.cpp

@@ -15,6 +15,7 @@
 
 namespace simple_mpc
 {
+  using curve_translation = ndcurves::bezier_curve<float, double, false, point3_t>;
 
   FootTrajectory::FootTrajectory(
     const std::map<std::string, point3_t> & initial_poses, double swing_apex, int T_fly, int T_contact, size_t T)