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‎CMakeLists.txt‎

Lines changed: 57 additions & 59 deletions
Original file line numberDiff line numberDiff line change
@@ -1,80 +1,78 @@
11
#
2-
# Copyright 2010, 2018-2020 CNRS
3-
# Authors: Florent Lamiraux, Guilhem Saurel
2+
# Copyright 2010, 2018-2020 CNRS Authors: Florent Lamiraux, Guilhem Saurel
43
#
54

6-
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
5+
cmake_minimum_required(VERSION 3.1)
76

87
# Project properties
9-
SET(PROJECT_ORG stack-of-tasks)
10-
SET(PROJECT_NAME dynamic-graph-tutorial)
11-
SET(PROJECT_DESCRIPTION "Tutorial for dynamic-graph")
12-
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
8+
set(PROJECT_ORG stack-of-tasks)
9+
set(PROJECT_NAME dynamic-graph-tutorial)
10+
set(PROJECT_DESCRIPTION "Tutorial for dynamic-graph")
11+
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
1312

1413
# Project options
15-
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
16-
OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
17-
OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
14+
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
15+
option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
16+
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
1817

1918
# Project configuration
20-
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
21-
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
22-
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
23-
SET(CUSTOM_HEADER_DIR "dynamic-graph/tutorial")
19+
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
20+
set(PROJECT_USE_CMAKE_EXPORT TRUE)
21+
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
22+
set(CUSTOM_HEADER_DIR "dynamic-graph/tutorial")
2423

2524
# JRL-cmakemodule setup
26-
INCLUDE(cmake/base.cmake)
27-
INCLUDE(cmake/boost.cmake)
25+
include(cmake/base.cmake)
26+
include(cmake/boost.cmake)
2827

2928
# Project definition
30-
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
31-
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
29+
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
30+
project(${PROJECT_NAME} ${PROJECT_ARGS})
3231

3332
# Project dependencies
34-
ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
35-
IF(BUILD_TESTING)
36-
FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
37-
ENDIF(BUILD_TESTING)
33+
add_project_dependency(dynamic-graph REQUIRED)
34+
if(BUILD_TESTING)
35+
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
36+
endif(BUILD_TESTING)
3837

39-
IF(BUILD_PYTHON_INTERFACE)
40-
ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.6 REQUIRED)
41-
ENDIF(BUILD_PYTHON_INTERFACE)
38+
if(BUILD_PYTHON_INTERFACE)
39+
add_project_dependency(dynamic-graph-python 4.0.6 REQUIRED)
40+
endif(BUILD_PYTHON_INTERFACE)
4241

43-
IF(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
42+
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
4443
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
4544
# without dropping support for boost < 1.73
46-
ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
47-
ENDIF()
45+
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
46+
endif()
4847

4948
# Main Library
50-
SET(${PROJECT_NAME}_HEADERS
51-
include/${CUSTOM_HEADER_DIR}/inverted-pendulum.hh
52-
include/${CUSTOM_HEADER_DIR}/feedback-controller.hh
53-
)
54-
55-
SET(${PROJECT_NAME}_SOURCES
56-
src/inverted-pendulum.cpp
57-
src/feedback-controller.cpp
58-
)
59-
60-
ADD_LIBRARY(${PROJECT_NAME} SHARED
61-
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
62-
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
63-
TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC dynamic-graph::dynamic-graph)
64-
65-
IF(SUFFIX_SO_VERSION)
66-
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
67-
ENDIF(SUFFIX_SO_VERSION)
68-
69-
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
70-
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
71-
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
72-
73-
ADD_SUBDIRECTORY(src)
74-
IF(BUILD_TESTING)
75-
ADD_SUBDIRECTORY(tests)
76-
ENDIF(BUILD_TESTING)
77-
78-
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
79-
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
80-
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
49+
set(${PROJECT_NAME}_HEADERS include/${CUSTOM_HEADER_DIR}/inverted-pendulum.hh
50+
include/${CUSTOM_HEADER_DIR}/feedback-controller.hh)
51+
52+
set(${PROJECT_NAME}_SOURCES src/inverted-pendulum.cpp
53+
src/feedback-controller.cpp)
54+
55+
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
56+
${${PROJECT_NAME}_HEADERS})
57+
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
58+
target_link_libraries(${PROJECT_NAME} PUBLIC dynamic-graph::dynamic-graph)
59+
60+
if(SUFFIX_SO_VERSION)
61+
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
62+
endif(SUFFIX_SO_VERSION)
63+
64+
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
65+
install(
66+
TARGETS ${PROJECT_NAME}
67+
EXPORT ${TARGETS_EXPORT_NAME}
68+
DESTINATION lib)
69+
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
70+
71+
add_subdirectory(src)
72+
if(BUILD_TESTING)
73+
add_subdirectory(tests)
74+
endif(BUILD_TESTING)
75+
76+
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
77+
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
78+
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)

‎src/CMakeLists.txt‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
1-
IF(BUILD_PYTHON_INTERFACE)
2-
PYTHON_INSTALL_ON_SITE("dynamic_graph/tutorial" simu.py)
3-
DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} tutorial-wrap
4-
MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/tutorial-python.h")
5-
ENDIF(BUILD_PYTHON_INTERFACE)
1+
if(BUILD_PYTHON_INTERFACE)
2+
python_install_on_site("dynamic_graph/tutorial" simu.py)
3+
dynamic_graph_python_module(
4+
"tutorial" ${PROJECT_NAME} tutorial-wrap MODULE_HEADER
5+
"${CMAKE_CURRENT_SOURCE_DIR}/tutorial-python.h")
6+
endif(BUILD_PYTHON_INTERFACE)

‎tests/CMakeLists.txt‎

Lines changed: 10 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,13 @@
1-
ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
1+
add_definitions(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
22

3-
ADD_UNIT_TEST(pendulum pendulum.cpp)
4-
TARGET_LINK_LIBRARIES(pendulum PRIVATE ${PROJECT_NAME} Boost::unit_test_framework)
3+
add_unit_test(pendulum pendulum.cpp)
4+
target_link_libraries(pendulum PRIVATE ${PROJECT_NAME}
5+
Boost::unit_test_framework)
56

6-
ADD_UNIT_TEST(controller controller.cpp)
7-
TARGET_LINK_LIBRARIES(controller PRIVATE ${PROJECT_NAME} Boost::unit_test_framework)
7+
add_unit_test(controller controller.cpp)
8+
target_link_libraries(controller PRIVATE ${PROJECT_NAME}
9+
Boost::unit_test_framework)
810

9-
IF(BUILD_PYTHON_INTERFACE)
10-
ADD_PYTHON_UNIT_TEST(simu "tests/simu.py" src)
11-
ENDIF(BUILD_PYTHON_INTERFACE)
11+
if(BUILD_PYTHON_INTERFACE)
12+
add_python_unit_test(simu "tests/simu.py" src)
13+
endif(BUILD_PYTHON_INTERFACE)

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