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[CMake] clean: keep minimal required instructions
moved scripts to unittest/python/, and headers into include/
1 parent 5c2f4c8 commit 087862a

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‎CMakeLists.txt‎

Lines changed: 188 additions & 132 deletions
Original file line numberDiff line numberDiff line change
@@ -16,46 +16,44 @@
1616

1717
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
1818

19-
SET(PROJECT_NAMESPACE stack-of-tasks)
19+
# Project properties
20+
SET(PROJECT_ORG stack-of-tasks)
2021
SET(PROJECT_NAME tsid)
2122
SET(PROJECT_DESCRIPTION "Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio")
22-
SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
23+
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
24+
25+
# Project options
26+
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
27+
OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
28+
OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
29+
OPTION(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
30+
OPTION(EIGEN_RUNTIME_NO_MALLOC "If ON, it can assert in case of runtime allocation" ON)
31+
OPTION(EIGEN_NO_AUTOMATIC_RESIZING "If ON, it forbids automatic resizing of dynamics arrays and matrices" OFF)
32+
33+
# Project configuration
34+
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
35+
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
36+
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
37+
SET(CXX_DISABLE_WERROR TRUE)
38+
SET(DOXYGEN_USE_MATHJAX YES)
39+
SET(CMAKE_VERBOSE_MAKEFILE TRUE)
2340

41+
# JRL-cmakemodule setup
2442
INCLUDE(cmake/base.cmake)
2543
INCLUDE(cmake/boost.cmake)
2644
INCLUDE(cmake/python.cmake)
2745
INCLUDE(cmake/ide.cmake)
2846
INCLUDE(cmake/apple.cmake)
29-
include(cmake/test.cmake)
30-
31-
OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
32-
33-
SET(DOXYGEN_USE_MATHJAX YES)
3447

3548
# Handle APPLE Cmake policy
3649
IF(APPLE)
3750
APPLY_DEFAULT_APPLE_CONFIGURATION()
3851
ENDIF(APPLE)
3952

40-
# Disable -Werror on Unix for now.
41-
SET(CXX_DISABLE_WERROR True)
42-
SET(CMAKE_VERBOSE_MAKEFILE True)
43-
53+
# Project definition
4454
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
4555
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
4656

47-
IF(WIN32)
48-
SET(LINK copy_if_different)
49-
ELSE(WIN32)
50-
SET(LINK create_symlink)
51-
ENDIF(WIN32)
52-
53-
# --- OPTIONS ----------------------------------------
54-
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
55-
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
56-
OPTION (EIGEN_RUNTIME_NO_MALLOC "If ON, it can assert in case of runtime allocation" ON)
57-
OPTION (EIGEN_NO_AUTOMATIC_RESIZING "If ON, it forbids automatic resizing of dynamics arrays and matrices" OFF)
58-
5957
IF(INITIALIZE_WITH_NAN)
6058
MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
6159
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
@@ -71,142 +69,200 @@ IF(EIGEN_NO_AUTOMATIC_RESIZING)
7169
ADD_DEFINITIONS(-DEIGEN_NO_AUTOMATIC_RESIZING)
7270
ENDIF(EIGEN_NO_AUTOMATIC_RESIZING)
7371

74-
# ----------------------------------------------------
75-
# --- DEPENDENCIES -----------------------------------
76-
# ----------------------------------------------------
77-
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.2.0") # Eigen::Ref appeared from 3.2.0
78-
79-
# Fail-safe support for catkin-ized pinocchio:
80-
# - If catkin-based pinocchio is installed it runs the CFG_EXTRAS to set up the Pinocchio preprocessor directives
81-
# - If it isn't, nothing happens and the subsequent pkg-config check takes care of everything.
82-
# - If catkin is installed but it's python components are not in PYTHONPATH, this will fail, please remove this line
83-
find_package(catkin QUIET COMPONENTS pinocchio)
84-
85-
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.2.0")
72+
# Project dependencies
73+
ADD_PROJECT_DEPENDENCY(pinocchio 2.3.1 REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.3.1")
8674

87-
SET(BOOST_REQUIERED_COMPONENTS filesystem system)
88-
SET(BOOST_BUILD_COMPONENTS unit_test_framework)
89-
SET(BOOST_OPTIONAL_COMPONENTS "")
75+
SET(BOOST_COMPONENTS filesystem system unit_test_framework)
9076

9177
IF(BUILD_PYTHON_INTERFACE)
92-
SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS} python)
9378
FINDPYTHON()
94-
INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
95-
ADD_REQUIRED_DEPENDENCY("eigenpy >= 1.4.0")
79+
SET(PYWRAP ${PROJECT_NAME}_pywrap)
80+
ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy)
81+
SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
9682
ENDIF(BUILD_PYTHON_INTERFACE)
9783

98-
SET(BOOST_COMPONENTS ${BOOST_REQUIERED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
9984
SEARCH_FOR_BOOST()
10085

101-
# Path to boost headers
102-
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
103-
# ----------------------------------------------------
104-
# --- INCLUDE ----------------------------------------
105-
# ----------------------------------------------------
106-
86+
# Main Library
10787
SET(${PROJECT_NAME}_MATH_HEADERS
108-
include/tsid/math/fwd.hpp
109-
include/tsid/math/utils.hpp
110-
include/tsid/math/constraint-base.hpp
111-
include/tsid/math/constraint-equality.hpp
112-
include/tsid/math/constraint-inequality.hpp
113-
include/tsid/math/constraint-bound.hpp
88+
include/tsid/math/fwd.hpp
89+
include/tsid/math/utils.hpp
90+
include/tsid/math/constraint-base.hpp
91+
include/tsid/math/constraint-equality.hpp
92+
include/tsid/math/constraint-inequality.hpp
93+
include/tsid/math/constraint-bound.hpp
11494
)
11595

11696
SET(${PROJECT_NAME}_TASKS_HEADERS
117-
include/tsid/tasks/fwd.hpp
118-
include/tsid/tasks/task-base.hpp
119-
include/tsid/tasks/task-motion.hpp
120-
include/tsid/tasks/task-actuation.hpp
121-
include/tsid/tasks/task-contact-force.hpp
122-
include/tsid/tasks/task-com-equality.hpp
123-
include/tsid/tasks/task-se3-equality.hpp
124-
include/tsid/tasks/task-contact-force-equality.hpp
125-
include/tsid/tasks/task-actuation-equality.hpp
126-
include/tsid/tasks/task-actuation-bounds.hpp
127-
include/tsid/tasks/task-joint-bounds.hpp
128-
include/tsid/tasks/task-joint-posture.hpp
129-
include/tsid/tasks/task-angular-momentum-equality.hpp
97+
include/tsid/tasks/fwd.hpp
98+
include/tsid/tasks/task-base.hpp
99+
include/tsid/tasks/task-motion.hpp
100+
include/tsid/tasks/task-actuation.hpp
101+
include/tsid/tasks/task-contact-force.hpp
102+
include/tsid/tasks/task-com-equality.hpp
103+
include/tsid/tasks/task-se3-equality.hpp
104+
include/tsid/tasks/task-contact-force-equality.hpp
105+
include/tsid/tasks/task-actuation-equality.hpp
106+
include/tsid/tasks/task-actuation-bounds.hpp
107+
include/tsid/tasks/task-joint-bounds.hpp
108+
include/tsid/tasks/task-joint-posture.hpp
109+
include/tsid/tasks/task-angular-momentum-equality.hpp
130110
)
131111

132112
SET(${PROJECT_NAME}_CONTACTS_HEADERS
133-
include/tsid/contacts/fwd.hpp
134-
include/tsid/contacts/contact-base.hpp
135-
include/tsid/contacts/contact-6d.hpp
136-
include/tsid/contacts/contact-point.hpp
113+
include/tsid/contacts/fwd.hpp
114+
include/tsid/contacts/contact-base.hpp
115+
include/tsid/contacts/contact-6d.hpp
116+
include/tsid/contacts/contact-point.hpp
137117
)
138118

139119
SET(${PROJECT_NAME}_TRAJECTORIES_HEADERS
140-
include/tsid/trajectories/fwd.hpp
141-
include/tsid/trajectories/trajectory-base.hpp
142-
include/tsid/trajectories/trajectory-se3.hpp
143-
include/tsid/trajectories/trajectory-euclidian.hpp
120+
include/tsid/trajectories/fwd.hpp
121+
include/tsid/trajectories/trajectory-base.hpp
122+
include/tsid/trajectories/trajectory-se3.hpp
123+
include/tsid/trajectories/trajectory-euclidian.hpp
144124
)
145125

146126
SET(${PROJECT_NAME}_SOLVERS_HEADERS
147-
include/tsid/solvers/eiquadprog_2011.hpp
148-
include/tsid/solvers/eiquadprog-rt.hpp
149-
include/tsid/solvers/eiquadprog-rt.hxx
150-
include/tsid/solvers/eiquadprog-fast.hpp
151-
include/tsid/solvers/fwd.hpp
152-
include/tsid/solvers/utils.hpp
153-
include/tsid/solvers/solver-HQP-output.hpp
154-
include/tsid/solvers/solver-HQP-base.hpp
155-
include/tsid/solvers/solver-HQP-factory.hpp
156-
include/tsid/solvers/solver-HQP-factory.hxx
157-
include/tsid/solvers/solver-HQP-qpoases.hpp
158-
include/tsid/solvers/solver-HQP-eiquadprog.hpp
159-
include/tsid/solvers/solver-HQP-eiquadprog-rt.hpp
160-
include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
161-
include/tsid/solvers/solver-HQP-eiquadprog-fast.hpp
127+
include/tsid/solvers/eiquadprog_2011.hpp
128+
include/tsid/solvers/eiquadprog-rt.hpp
129+
include/tsid/solvers/eiquadprog-rt.hxx
130+
include/tsid/solvers/eiquadprog-fast.hpp
131+
include/tsid/solvers/fwd.hpp
132+
include/tsid/solvers/utils.hpp
133+
include/tsid/solvers/solver-HQP-output.hpp
134+
include/tsid/solvers/solver-HQP-base.hpp
135+
include/tsid/solvers/solver-HQP-factory.hpp
136+
include/tsid/solvers/solver-HQP-factory.hxx
137+
include/tsid/solvers/solver-HQP-qpoases.hpp
138+
include/tsid/solvers/solver-HQP-eiquadprog.hpp
139+
include/tsid/solvers/solver-HQP-eiquadprog-rt.hpp
140+
include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
141+
include/tsid/solvers/solver-HQP-eiquadprog-fast.hpp
162142
)
163143

164144
SET(${PROJECT_NAME}_ROBOTS_HEADERS
165-
include/tsid/robots/fwd.hpp
166-
include/tsid/robots/robot-wrapper.hpp
145+
include/tsid/robots/fwd.hpp
146+
include/tsid/robots/robot-wrapper.hpp
167147
)
168148

169149
SET(${PROJECT_NAME}_FORMULATIONS_HEADERS
170-
include/tsid/formulations/inverse-dynamics-formulation-base.hpp
171-
include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp
172-
)
173-
174-
SET(HEADERS
175-
include/tsid/config.hpp
176-
include/tsid/deprecation.hpp
177-
include/tsid/utils/statistics.hpp
178-
include/tsid/utils/stop-watch.hpp
179-
include/tsid/utils/Stdafx.hh
180-
${${PROJECT_NAME}_MATH_HEADERS}
181-
${${PROJECT_NAME}_TASKS_HEADERS}
182-
${${PROJECT_NAME}_CONTACTS_HEADERS}
183-
${${PROJECT_NAME}_TRAJECTORIES_HEADERS}
184-
${${PROJECT_NAME}_SOLVERS_HEADERS}
185-
${${PROJECT_NAME}_ROBOTS_HEADERS}
186-
${${PROJECT_NAME}_FORMULATIONS_HEADERS}
187-
)
188-
189-
LIST(REMOVE_DUPLICATES HEADERS)
190-
191-
SET(HEADERS_FULL_PATH "")
192-
FOREACH(header ${HEADERS})
193-
LIST(APPEND HEADERS_FULL_PATH "${CMAKE_SOURCE_DIR}/${header}")
194-
GET_FILENAME_COMPONENT(headerName ${header} NAME)
195-
GET_FILENAME_COMPONENT(headerPath ${header} PATH)
196-
INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
197-
DESTINATION ${CMAKE_INSTALL_PREFIX}/${headerPath}
198-
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
199-
ENDFOREACH(header ${HEADERS})
200-
201-
# --- MAIN LIBRARY -------------------------------------------------------------
202-
ADD_SUBDIRECTORY(src)
203-
204-
# --- BINDINGS ----------------------------------------------------------------
205-
IF(BUILD_PYTHON_INTERFACE)
206-
SET(PYWRAP ${PROJECT_NAME}_pywrap)
207-
ADD_SUBDIRECTORY(bindings)
208-
ENDIF(BUILD_PYTHON_INTERFACE)
209-
# --- UNIT TESTS ---------------------------------------------------------------
150+
include/tsid/formulations/inverse-dynamics-formulation-base.hpp
151+
include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp
152+
)
153+
154+
FILE(GLOB ${PYWRAP}_HEADERS
155+
include/tsid/bindings/python/constraint/*.hpp
156+
include/tsid/bindings/python/contacts/*.hpp
157+
include/tsid/bindings/python/formulations/*.hpp
158+
include/tsid/bindings/python/robots/*.hpp
159+
include/tsid/bindings/python/solvers/*.hpp
160+
include/tsid/bindings/python/tasks/*.hpp
161+
include/tsid/bindings/python/trajectories/*.hpp
162+
include/tsid/bindings/python/utils/*.hpp
163+
)
164+
165+
SET(${PROJECT_NAME}_HEADERS
166+
include/tsid/config.hpp
167+
include/tsid/deprecation.hpp
168+
include/tsid/utils/statistics.hpp
169+
include/tsid/utils/stop-watch.hpp
170+
include/tsid/utils/Stdafx.hh
171+
${${PROJECT_NAME}_MATH_HEADERS}
172+
${${PROJECT_NAME}_TASKS_HEADERS}
173+
${${PROJECT_NAME}_CONTACTS_HEADERS}
174+
${${PROJECT_NAME}_TRAJECTORIES_HEADERS}
175+
${${PROJECT_NAME}_SOLVERS_HEADERS}
176+
${${PROJECT_NAME}_ROBOTS_HEADERS}
177+
${${PROJECT_NAME}_FORMULATIONS_HEADERS}
178+
)
179+
180+
LIST(REMOVE_DUPLICATES ${PROJECT_NAME}_HEADERS)
181+
182+
SET(${PROJECT_NAME}_MATH_SOURCES
183+
src/math/constraint-base.cpp
184+
src/math/constraint-equality.cpp
185+
src/math/constraint-inequality.cpp
186+
src/math/constraint-bound.cpp
187+
src/math/utils.cpp
188+
)
189+
190+
SET(${PROJECT_NAME}_TASKS_SOURCES
191+
src/tasks/task-base.cpp
192+
src/tasks/task-actuation-bounds.cpp
193+
src/tasks/task-actuation-equality.cpp
194+
src/tasks/task-actuation.cpp
195+
src/tasks/task-com-equality.cpp
196+
src/tasks/task-contact-force-equality.cpp
197+
src/tasks/task-contact-force.cpp
198+
src/tasks/task-joint-bounds.cpp
199+
src/tasks/task-joint-posture.cpp
200+
src/tasks/task-motion.cpp
201+
src/tasks/task-se3-equality.cpp
202+
src/tasks/task-angular-momentum-equality.cpp
203+
)
204+
205+
SET(${PROJECT_NAME}_CONTACTS_SOURCES
206+
src/contacts/contact-base.cpp
207+
src/contacts/contact-6d.cpp
208+
src/contacts/contact-point.cpp
209+
)
210+
211+
SET(${PROJECT_NAME}_TRAJECTORIES_SOURCES
212+
src/trajectories/trajectory-se3.cpp
213+
src/trajectories/trajectory-euclidian.cpp
214+
)
215+
216+
SET(${PROJECT_NAME}_SOLVERS_SOURCES
217+
src/solvers/eiquadprog-fast.cpp
218+
src/solvers/solver-HQP-base.cpp
219+
src/solvers/solver-HQP-factory.cpp
220+
src/solvers/solver-HQP-eiquadprog.cpp
221+
src/solvers/solver-HQP-eiquadprog-fast.cpp
222+
src/solvers/solver-HQP-qpoases.cpp
223+
src/solvers/utils.cpp
224+
)
225+
226+
SET(${PROJECT_NAME}_ROBOTS_SOURCES
227+
src/robots/robot-wrapper.cpp
228+
)
229+
230+
SET(${PROJECT_NAME}_FORMULATIONS_SOURCES
231+
src/formulations/inverse-dynamics-formulation-base.cpp
232+
src/formulations/inverse-dynamics-formulation-acc-force.cpp
233+
)
234+
235+
SET(${PROJECT_NAME}_SOURCES
236+
src/utils/statistics.cpp
237+
src/utils/stop-watch.cpp
238+
${${PROJECT_NAME}_MATH_SOURCES}
239+
${${PROJECT_NAME}_TASKS_SOURCES}
240+
${${PROJECT_NAME}_CONTACTS_SOURCES}
241+
${${PROJECT_NAME}_TRAJECTORIES_SOURCES}
242+
${${PROJECT_NAME}_SOLVERS_SOURCES}
243+
${${PROJECT_NAME}_ROBOTS_SOURCES}
244+
${${PROJECT_NAME}_FORMULATIONS_SOURCES}
245+
)
246+
247+
ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
248+
ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
249+
250+
ADD_LIBRARY(${PROJECT_NAME} SHARED
251+
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
252+
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
253+
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
254+
pinocchio::pinocchio)
255+
256+
257+
IF(SUFFIX_SO_VERSION)
258+
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
259+
ENDIF(SUFFIX_SO_VERSION)
260+
261+
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
262+
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
263+
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
264+
265+
ADD_SUBDIRECTORY(bindings)
210266
ADD_SUBDIRECTORY(unittest)
211267

212268
# --- PACKAGING ----------------------------------------------------------------

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