Merge branch 'devel' into 'devel'

[CMake] Packaging

See merge request stack-of-tasks/eiquadprog!2

Author: gabrielebndn

CMakeLists.txt

@@ -1,18 +1,6 @@
 #
 # Copyright (c) 2019 CNRS
 #
-# This file is part of eiquadprog
-# pinocchio is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-# pinocchio is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# pinocchio If not, see
-# <http://www.gnu.org/licenses/>.
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
@@ -21,9 +9,10 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/test.cmake)
 
+SET(PROJECT_NAMESPACE stack-of-tasks)
 SET(PROJECT_NAME eiquadprog)
 SET(PROJECT_DESCRIPTION "C++ reimplementation of eiquadprog")
-SET(PROJECT_URL "https://gepgitlab.laas.fr/gbuondon/eiquadprog")
+SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
 SET(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
 
 # Disable -Werror on Unix for now.
@@ -37,35 +26,14 @@ SETUP_PROJECT()
 # ----------------------------------------------------
 ADD_REQUIRED_DEPENDENCY("eigen3")
 
-# ----------------------------------------------------
-# --- INCLUDE ----------------------------------------
-# ----------------------------------------------------
-# Add headers here if any
-SET(${PROJECT_NAME}_HEADERS
-    include/eiquadprog/eiquadprog.hpp
-    include/eiquadprog/eiquadprog-fast.hpp
-    include/eiquadprog/eiquadprog-fast.hxx
-  )
-
-INSTALL(FILES
-  ${${PROJECT_NAME}_HEADERS}
-  DESTINATION include/${PROJECT_NAME}
-  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-  )
-
-SET(BOOST_REQUIERED_COMPONENTS "")
-SET(BOOST_BUILD_COMPONENTS unit_test_framework)
-SET(BOOST_OPTIONAL_COMPONENTS "")
-
-SET(BOOST_COMPONENTS ${BOOST_REQUIERED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
+SET(BOOST_COMPONENTS unit_test_framework)
 SEARCH_FOR_BOOST()
-
-# Path to boost headers
 INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
 # --- PACKAGING ----------------------------------------------------------------
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 
+ADD_SUBDIRECTORY(include/${PROJECT_NAME})
 ADD_SUBDIRECTORY(unittest)
 
 SETUP_PROJECT_FINALIZE()

include/eiquadprog/CMakeLists.txt

@@ -0,0 +1,10 @@
+SET(${PROJECT_NAME}_HEADERS
+    eiquadprog.hpp
+    eiquadprog-fast.hpp
+    eiquadprog-fast.hxx
+  )
+
+INSTALL(FILES
+  ${${PROJECT_NAME}_HEADERS}
+  DESTINATION include/${PROJECT_NAME}
+  )

include/eiquadprog/eiquadprog-fast.hpp

@@ -1,19 +1,6 @@
 //
 // Copyright (c) 2017 CNRS
 //
-// This file is part of eiquadprog
-// eiquadprog is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-// eiquadprog is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// eiquadprog If not, see
-// <http://www.gnu.org/licenses/>.
-//
 
 #ifndef EIQUADPROGFAST_HPP_
 #define EIQUADPROGFAST_HPP_

include/eiquadprog/eiquadprog-fast.hxx

@@ -1,23 +1,10 @@
 //
 // Copyright (c) 2017 CNRS
 //
-// This file is part of eiquadprog
-// eiquadprog is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-// eiquadprog is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// eiquadprog If not, see
-// <http://www.gnu.org/licenses/>.
-//
 
 #ifndef EIQUADPROGFAST_HXX_
 #define EIQUADPROGFAST_HXX_
- 
+
 namespace eiquadprog
 {
   namespace solvers
@@ -43,7 +30,7 @@ namespace eiquadprog
         }
       return a1 * std::sqrt(2.0);
     }
-    
+
     EiquadprogFast::EiquadprogFast()
     {
       m_maxIter = DEFAULT_MAX_ITER;
@@ -177,7 +164,7 @@ namespace eiquadprog
                                            size_t& iq,
                                            size_t l)
     {
-      
+
       size_t nVars = R.rows();
 #ifdef TRACE_SOLVER
       std::cerr << "Delete constraint " << l << ' ' << iq;
@@ -705,8 +692,8 @@ l2a:/* Step 2a: determine step direction */
 
       goto l2a;
     }
-    
+
   } /* namespace solvers */
 } /* namespace eiquadprog */
 
-#endif /* EIQUADPROGFAST_HXX_ */
+#endif /* EIQUADPROGFAST_HXX_ */

unittest/CMakeLists.txt

@@ -1,33 +1,13 @@
+ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
 #test paths and names (without .cpp extension)
 SET (TESTS
   eiquadprog-basic
   eiquadprog-fast
   )
 
-# --- MACROS ------------------------------------------------------------------
-
-MACRO(ADD_TEST_CFLAGS target flag)
-  SET_PROPERTY(TARGET ${target} APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
-ENDMACRO(ADD_TEST_CFLAGS)
-
-MACRO(ADD_EIQUADPROG_UNIT_TEST NAME)
-  SET(TEST_NAME "${NAME}-test")
-  ADD_UNIT_TEST(${TEST_NAME} ${NAME}.cpp)
-  SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES LINKER_LANGUAGE CXX)
-  TARGET_INCLUDE_DIRECTORIES(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-
-  ADD_TEST_CFLAGS(${TEST_NAME} "-DBOOST_TEST_DYN_LINK") 
-  SET(MODULE_NAME "${NAME}Test")
-  STRING(REGEX REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
-  ADD_TEST_CFLAGS(${TEST_NAME} "-DBOOST_TEST_MODULE=${MODULE_NAME}") 
-
-  PKG_CONFIG_USE_DEPENDENCY(${TEST_NAME} eigen3)
-
-#  TARGET_LINK_LIBRARIES(${TEST_NAME} ${PROJECT_NAME})
-  TARGET_LINK_LIBRARIES(${TEST_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-ENDMACRO(ADD_EIQUADPROG_UNIT_TEST)
-
-FOREACH(TEST ${TESTS})
-  ADD_EIQUADPROG_UNIT_TEST(${TEST})
-ENDFOREACH(TEST)
+FOREACH(test ${TESTS})
+  ADD_UNIT_TEST(${test} ${test})
+  TARGET_LINK_LIBRARIES(${test} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+  PKG_CONFIG_USE_DEPENDENCY(${test} eigen3)
+ENDFOREACH(test ${TESTS})

unittest/eiquadprog-basic.cpp

@@ -216,7 +216,7 @@ BOOST_AUTO_TEST_CASE ( test_full )
   Eigen::VectorXi activeSet(2);
   size_t activeSetSize;
 
-  Eigen::VectorXd solution(1);
+  Eigen::VectorXd solution(2);
   solution(0) = 2.;
   solution(1) = 3.;
 

unittest/eiquadprog-fast.cpp

@@ -234,7 +234,7 @@ BOOST_AUTO_TEST_CASE ( test_full )
 
   Eigen::VectorXd x(2);
 
-  Eigen::VectorXd solution(1);
+  Eigen::VectorXd solution(2);
   solution(0) = 2.;
   solution(1) = 3.;