[CMake] add INSTALL_PYTHON_INTERFACE_ONLY option

Author: nim65s

CMakeLists.txt

@@ -6,6 +6,7 @@ INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/python.cmake)
+INCLUDE(cmake/test.cmake)
 
 SET(PROJECT_NAMESPACE stack-of-tasks)
 SET(PROJECT_NAME sot-dynamic-pinocchio)
@@ -35,6 +36,8 @@ ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
 SET(BOOST_COMPONENTS filesystem system unit_test_framework)
 
 OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
@@ -43,31 +46,16 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_REQUIRED_DEPENDENCY("eigenpy")
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-
-# List plug-ins that will be compiled.
-SET(plugins
-  zmpreffromcom
-  force-compensation
-  integrator-force-exact
-  mass-apparent
-  integrator-force-rk4
-  integrator-force
-  angle-estimator
-  waist-attitude-from-sensor
-  zmp-from-forces
-  )
-
-SET(LIBRARY_NAME ${PROJECT_NAME})
-LIST(APPEND plugins dynamic)
-
 # Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
-PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 
 SEARCH_FOR_BOOST()
 SEARCH_FOR_EIGEN()
 
 # Add subdirectories.
-ADD_SUBDIRECTORY(include)
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(doc)
 ADD_SUBDIRECTORY(python)

include/CMakeLists.txt

@@ -0,0 +1,16 @@
+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+
+SET(${PROJECT_NAME}_HEADERS
+  dynamic-pinocchio.h
+  integrator-force-exact.h
+  zmpreffromcom.h
+  integrator-force.h
+  force-compensation.h
+  mass-apparent.h
+  waist-attitude-from-sensor.h
+  matrix-inertia.h
+  integrator-force-rk4.h
+  angle-estimator.h
+  )
+
+INSTALL(FILES ${${PROJECT_NAME}_HEADERS} DESTINATION include/${CUSTOM_HEADER_DIR})

include/sot-dynamic-pinocchio/CMakeLists.txt

@@ -1,23 +1,37 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
 #                 Florent Lamiraux (CNRS/LAAS)
 
-LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 
-# Verbosity level
-IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-
-IF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
-  ADD_DEFINITIONS(-DDEBUG=2)
-ENDIF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
+# Main Library
+ADD_LIBRARY(${PROJECT_NAME} SHARED sot-dynamic-pinocchio)
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} pinocchio)
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} sot-core)
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES})
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
+# List plug-ins that will be compiled.
+SET(plugins
+  zmpreffromcom
+  force-compensation
+  integrator-force-exact
+  mass-apparent
+  integrator-force-rk4
+  integrator-force
+  angle-estimator
+  waist-attitude-from-sensor
+  zmp-from-forces
+  dynamic
+  )
 
 SET(integrator-force-rk4_plugins_dependencies integrator-force)
 SET(integrator-force-exact_plugins_dependencies integrator-force)
 
 FOREACH(lib ${plugins})
   SET(libname dp-${lib})
-  ADD_LIBRARY(${libname} SHARED ${lib}.cpp)
+  ADD_LIBRARY(${libname} SHARED ${lib})
   SET_TARGET_PROPERTIES(${libname} PROPERTIES
     PREFIX ""
     SOVERSION ${PROJECT_VERSION})
@@ -27,17 +41,16 @@ FOREACH(lib ${plugins})
     TARGET_LINK_LIBRARIES(${libname} "dp-${${lib}_plugins_dependencies}")
   ENDIF(${lib}_plugins_dependencies)
 
+  TARGET_LINK_LIBRARIES(${libname} ${PROJECT_NAME})
   TARGET_LINK_LIBRARIES(${libname} ${Boost_LIBRARIES})
 
   PKG_CONFIG_USE_DEPENDENCY(${libname} pinocchio)
-  IF(BUILD_PYTHON_INTERFACE)
-    PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
-  ENDIF(BUILD_PYTHON_INTERFACE)
-
   PKG_CONFIG_USE_DEPENDENCY(${libname} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${libname} dynamic-graph)
 
-  INSTALL(TARGETS ${libname} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+    INSTALL(TARGETS ${libname} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
   # build python submodule
   IF(BUILD_PYTHON_INTERFACE)
@@ -52,23 +65,8 @@ FOREACH(lib ${plugins})
       )
     PKG_CONFIG_USE_DEPENDENCY(sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap pinocchio)
   ENDIF(BUILD_PYTHON_INTERFACE)
-
-  UNSET({libname})
 ENDFOREACH(lib)
 
-# Main Library
-ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
-
-TARGET_LINK_LIBRARIES(dp-dynamic ${LIBRARY_NAME})
-
 # Install empty __init__.py files in intermediate directories.
 IF(BUILD_PYTHON_INTERFACE)
   INSTALL(FILES

src/CMakeLists.txt

@@ -1,7 +1,5 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
 
-ADD_DEFINITIONS(-DDEBUG=2)
-
 SET(tests
 test_constructor
 #test_config
@@ -11,17 +9,11 @@ test_constructor
 #  test_results
 )
 
-
-#----------------------------------------------------
-# Install procedure for the urdf files
-#----------------------------------------------------
-
 SET(test_dyn_plugins_dependencies dynamic)
 
 # Make Boost.Test generates the main function in test cases.
 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
-
 # getting the information for the robot.
 #SET(samplemodelpath ${JRL_DYNAMICS_PKGDATAROOTDIR}/jrl-dynamics/examples/data/)
 #SET(samplespec
@@ -36,11 +28,9 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
 
 FOREACH(test ${tests})
-  SET(EXECUTABLE_NAME "${test}_exe")
-  ADD_EXECUTABLE(${EXECUTABLE_NAME}
-    ${test}.cpp)
+  ADD_UNIT_TEST(${test} ${test})
 
-  TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+  TARGET_LINK_LIBRARIES(${test}
     dp-zmpreffromcom
     dp-force-compensation
     #integrator-force-exact
@@ -52,26 +42,14 @@ FOREACH(test ${tests})
     ${LIBRARY_NAME}
     )
 
-  PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} pinocchio)
-  PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
-  PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
-  IF(BUILD_PYTHON_INTERFACE)
-    PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
-  ENDIF(BUILD_PYTHON_INTERFACE)
+  PKG_CONFIG_USE_DEPENDENCY(${test} pinocchio)
+  PKG_CONFIG_USE_DEPENDENCY(${test} sot-core)
+  PKG_CONFIG_USE_DEPENDENCY(${test} dynamic-graph)
 
   IF(${test}_plugins_dependencies)
     ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
     TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
   ENDIF(${test}_plugins_dependencies)
 
-  TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY})
-  ADD_TEST(${test} ${EXECUTABLE_NAME}
-    ${samplemodelpath} ${samplespec} ${sampleljr} )
-
-  IF (UNIX)
-    SET(EXTRA_LD_LIBRARY_PATH $ENV{LD_LIBRARY_PATH})
-    SET_PROPERTY(TEST ${test} PROPERTY
-      ENVIRONMENT "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:${CMAKE_BINARY_DIR}/src:${BOOST_ROOT}/lib:${EXTRA_LD_LIBRARY_PATH}")
-  ENDIF(UNIX)
-
+  TARGET_LINK_LIBRARIES(${test} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY})
 ENDFOREACH(test)