[CMake] clean: keep minimal required instructions

Author: nim65s

CMakeLists.txt

@@ -1,44 +1,69 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/eigen.cmake)
-
-# Compiles despite warnings
-SET(CXX_DISABLE_WERROR True)
-# Display all warnings
-SET(CMAKE_VERBOSE_MAKEFILE True)
-
-# Set project identity
+# Project properties
+SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME ddp-actuator-solver)
 SET(PROJECT_DESCRIPTION "DDP/iLQR solver for robotics actuators command")
-SET(PROJECT_URL "https://github.com/stack-of-tasks/ddp-actuator-solver")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+
+# Project options
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+
+# Project configuration
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(CXX_DISABLE_WERROR TRUE)
+SET(CMAKE_VERBOSE_MAKEFILE TRUE)
+
+# JRL-cmakemodule setup
+INCLUDE(cmake/base.cmake)
 
-SETUP_PROJECT()
+# Project definition
+COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
+PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES")
 FIND_PACKAGE("qpOASES" REQUIRED)
-INCLUDE_DIRECTORIES(SYSTEM ${qpOASES_INCLUDE_DIRS})
 
-# Add eigen3 as another needed dependency
-ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
-
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 # Set the headers to be installed
 SET(${PROJECT_NAME}_HEADERS
   include/ddp-actuator-solver/costfunction.hh
   include/ddp-actuator-solver/dynamicmodel.hh
-  include/ddp-actuator-solver/ddpsolver.hh)
+  include/ddp-actuator-solver/ddpsolver.hh
+  )
 
-SET(HEADERS
-  ${${PROJECT_NAME}_HEADERS}
+SET(${PROJECT_NAME}_SOURCES
+  src/pyrene_actuator/pyreneCostFunction.cpp
+  src/pyrene_actuator/pyreneActuator.cpp
+  src/romeo_actuator/costfunctionromeoactuator.cpp
+  src/romeo_actuator/romeosimpleactuator.cpp
+  src/romeo_actuator/romeotorqueactuator.cpp
+  src/temperature_control/costtemp.cpp
+  src/temperature_control/dctemp.cpp
+  src/linear/costLinear.cpp
+  src/linear/modelLinear.cpp
+  src/inverse_pendulum/costIP.cpp
+  src/inverse_pendulum/modelIP.cpp
   )
 
+ADD_LIBRARY(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC
+  ${EIGEN3_INCLUDE_DIR} ${qpOASES_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${qpOASES_LIBRARIES})
+
+IF(SUFFIX_SO_VERSION)
+  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+ENDIF(SUFFIX_SO_VERSION)
+
+INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+
 ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(test)
+ADD_SUBDIRECTORY(tests)
 ADD_SUBDIRECTORY(examples)
 
-# Generate dependency to ddp-actuator-solver-examples in pc file
-PKG_CONFIG_APPEND_LIBS(ddp-actuator-solver-examples)
-
-SETUP_PROJECT_FINALIZE()
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})

cmake

@@ -1,15 +1,12 @@
-
 macro(_local_test_ddp)
   set(list_var "${ARGN}")
-  foreach(loop_var IN LISTS list_var)
-    ADD_EXECUTABLE(${loop_var} ${loop_var}.cpp)
-    TARGET_LINK_LIBRARIES(${loop_var} ${PROJECT_NAME}-examples 
-      ${qpOASES_LIBRARIES})
-    PKG_CONFIG_USE_DEPENDENCY(${loop_var} eigen3)
+  foreach(ex IN LISTS list_var)
+    ADD_EXECUTABLE(${ex} ${ex}.cpp)
+    TARGET_LINK_LIBRARIES(${ex} ${PROJECT_NAME}-examples ${qpOASES_LIBRARIES})
   endforeach()
 endmacro()
 
-SET(source_files
+SET(${PROJECT_NAME}_EXAMPLE_SOURCES
   pyrene_actuator/pyreneCostFunction.cpp
   pyrene_actuator/pyreneActuator.cpp
   romeo_actuator/costfunctionromeoactuator.cpp
@@ -21,9 +18,9 @@ SET(source_files
   linear/modelLinear.cpp
   inverse_pendulum/costIP.cpp
   inverse_pendulum/modelIP.cpp
-)
+  )
 
-SET(header_files
+SET(${PROJECT_NAME}_EXAMPLE_HEADERS
   pyrene_actuator/pyreneCostFunction.hh
   pyrene_actuator/pyreneActuator.hh
   romeo_actuator/costfunctionromeoactuator.hh
@@ -33,17 +30,13 @@ SET(header_files
   temperature_control/dctemp.hh
   )
 
-ADD_LIBRARY(${PROJECT_NAME}-examples SHARED ${source_files})
-SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES")
-FIND_PACKAGE("qpOASES" REQUIRED)
-INCLUDE_DIRECTORIES(SYSTEM ${qpOASES_INCLUDE_DIRS})
-
+ADD_LIBRARY(${PROJECT_NAME}-examples SHARED
+  ${${PROJECT_NAME}_EXAMPLE_SOURCES} ${${PROJECT_NAME}_EXAMPLE_HEADERS})
 TARGET_LINK_LIBRARIES(${PROJECT_NAME}-examples ${qpOASES_LIBRARIES})
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-examples qpOASES)    
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-examples eigen3)
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}-examples SYSTEM PUBLIC
+  ${EIGEN3_INCLUDE_DIRS} ${qpOASES_INCLUDE_DIRS})
 
-INSTALL(TARGETS ${PROJECT_NAME}-examples LIBRARY DESTINATION lib)
-INSTALL(FILES ${header_files} DESTINATION include/ddp-actuator-solver/examples)
+INSTALL(TARGETS ${PROJECT_NAME}-examples EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 
 ADD_SUBDIRECTORY(pyrene_actuator)
 ADD_SUBDIRECTORY(romeo_actuator)

examples/CMakeLists.txt

@@ -1 +1 @@
-_local_test_ddp(  mainIP )
+_local_test_ddp(mainIP)

examples/inverse_pendulum/CMakeLists.txt

@@ -1 +1 @@
-_local_test_ddp(  mainLinear )
+_local_test_ddp(mainLinear)