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CMakeLists.txt
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#
# Copyright (c) 2015-2020 CNRS INRIA
# Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
SET(PROJECT_NAME pinocchio)
SET(PROJECT_DESCRIPTION "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives")
SET(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
SET(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
# Check if the submodule cmake have been initialized
IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
ENDIF()
SET(DOXYGEN_USE_MATHJAX YES)
SET(DOXYGEN_USE_TEMPLATE_CSS YES)
INCLUDE(cmake/base.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/ide.cmake)
INCLUDE(cmake/apple.cmake)
# If needed, set CMake policy for APPLE systems
APPLY_DEFAULT_APPLE_CONFIGURATION()
IF(WIN32)
SET(LINK copy_if_different)
ELSE(WIN32)
SET(LINK create_symlink)
ENDIF(WIN32)
# --- OPTIONS ----------------------------------------
OPTION(BUILD_BENCHMARK "Build the benchmarks" OFF)
OPTION(BUILD_UTILS "Build the utils" OFF)
OPTION(BUILD_PYTHON_INTERFACE "Build the Python binding" OFF)
OPTION(BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF)
IF(DEFINED BUILD_UNIT_TESTS)
MESSAGE(AUTHOR_WARNING "BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.\
If you are manually building Pinocchio from source in an existing build folder,\
we suggest that you delete your build folder and make a new one.")
SET(BUILD_TESTING ${BUILD_UNIT_TESTS})
ENDIF(DEFINED BUILD_UNIT_TESTS)
OPTION(BUILD_ADVANCED_TESTING "Build the advanced tests (multiprecision, etc.) of Pinocchio" OFF)
# --- OPTIONAL DEPENDENCIES -------------------------
OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the collision support (required HPP-FCL)" ON)
OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the automatic differentiation support (via CppAD)" OFF)
OPTION(BUILD_WITH_CASADI_SUPPORT "Build the library with the support of CASADI" OFF)
OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the support of code generation (via CppADCodeGen)" OFF)
OPTION(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
IF(BUILD_WITH_COLLISION_SUPPORT)
SET(BUILD_WITH_HPP_FCL_SUPPORT TRUE)
ENDIF()
IF(BUILD_WITH_AUTODIFF_SUPPORT)
SET(BUILD_WITH_CPPAD_SUPPORT TRUE)
ENDIF()
IF(BUILD_WITH_CODEGEN_SUPPORT)
SET(BUILD_WITH_CPPAD_CODEGEN_SUPPORT TRUE)
ENDIF()
IF(INITIALIZE_WITH_NAN)
MESSAGE (STATUS "Initialize with NaN all the Eigen entries.")
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF(INITIALIZE_WITH_NAN)
MACRO(TAG_LIBRARY_VERSION target)
SET_TARGET_PROPERTIES(${target} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDMACRO(TAG_LIBRARY_VERSION)
SET(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/find-external/CppAD/" ${CMAKE_MODULE_PATH})
ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
# Variable containing all the cflags definition relative to optional dependencies
SET(CFLAGS_DEPENDENCIES)
IF(BUILD_WITH_URDF_SUPPORT)
ADD_PROJECT_DEPENDENCY(urdfdom_headers)
ADD_PROJECT_DEPENDENCY(urdfdom PKG_CONFIG_REQUIRES "urdfdom >= 0.2.0")
SET(urdfdom_VERSION ${urdfdom_headers_VERSION})
ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM)
LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
IF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
MESSAGE(STATUS "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard.")
ENDIF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
ENDIF(BUILD_WITH_URDF_SUPPORT)
IF(BUILD_WITH_AUTODIFF_SUPPORT)
# Check first CppADCodeGen
IF(BUILD_WITH_CODEGEN_SUPPORT)
ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
IF(BUILD_WITH_CASADI_SUPPORT)
ADD_PROJECT_DEPENDENCY(casadi 3.4.5 REQUIRED PKG_CONFIG_REQUIRES "casadi >= 3.4.5")
ENDIF(BUILD_WITH_CASADI_SUPPORT)
SET(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
SET_BOOST_DEFAULT_OPTIONS()
EXPORT_BOOST_DEFAULT_OPTIONS()
ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
SEARCH_FOR_BOOST_PYTHON(REQUIRED)
ADD_PROJECT_DEPENDENCY(eigenpy 2.5.0 REQUIRED)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(BUILD_WITH_HPP_FCL_SUPPORT)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
ADD_PROJECT_DEPENDENCY(hpp-fcl 1.4.0 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.4.0")
# Check whether hpp-fcl python bindings are available.
SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
IF(BUILD_PYTHON_INTERFACE)
EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import hppfcl"
RESULT_VARIABLE _hpp_fcl_python_bindings_not_found
OUTPUT_QUIET
ERROR_QUIET)
IF(_hpp_fcl_python_bindings_not_found EQUAL 0)
SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS TRUE)
MESSAGE(STATUS "Found hpp-fcl Python bindings.")
ELSE()
MESSAGE(STATUS "hpp-fcl Python bindings NOT found.")
ENDIF()
UNSET(_hpp_fcl_python_bindings_not_found)
ENDIF(BUILD_PYTHON_INTERFACE)
ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
# Enforce the preprocessed version of boost::list and boost::vector
# This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp
# but it avoids any compilation issue.
ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_LIST_SIZE=30)
ADD_DEFINITIONS(-DBOOST_MPL_LIMIT_VECTOR_SIZE=30)
LIST(APPEND CFLAGS_DEPENDENCIES "-DBOOST_MPL_LIMIT_LIST_SIZE=30")
# Path to boost headers
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
FILE(GLOB_RECURSE HEADERS
${PROJECT_SOURCE_DIR}/src/*.hpp
${PROJECT_SOURCE_DIR}/src/*.hxx
)
IF(NOT BUILD_WITH_URDF_SUPPORT)
LIST(REMOVE_ITEM HEADERS
${PROJECT_SOURCE_DIR}/src/parsers/urdf.hpp
${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.hxx
${PROJECT_SOURCE_DIR}/src/parsers/urdf/geometry.hxx
${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.hpp
${PROJECT_SOURCE_DIR}/src/parsers/urdf/types.hpp
)
ENDIF(NOT BUILD_WITH_URDF_SUPPORT)
IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
LIST(REMOVE_ITEM HEADERS
${PROJECT_SOURCE_DIR}/src/spatial/fcl-pinocchio-conversions.hpp
)
ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
LIST(APPEND HEADERS macros.hpp)
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/core")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/math")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/spatial")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/joint")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/liegroup")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/multibody/visitor")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/parsers/urdf")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/utils")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/serialization")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/algorithm")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/container")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/codegen")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/math")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/spatial")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/casadi/utils")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/spatial")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/math")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/algorithm")
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/autodiff/cppad/utils")
SET(HEADERS_)
FOREACH(header ${HEADERS})
STRING(REGEX REPLACE "${PROJECT_SOURCE_DIR}/src/" "" header ${header})
LIST(APPEND HEADERS_ ${header})
GET_FILENAME_COMPONENT(headerName ${header} NAME)
GET_FILENAME_COMPONENT(headerPath ${header} PATH)
EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${header})
INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${headerPath}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
ENDFOREACH(header)
SET(HEADERS ${HEADERS_})
LIST(APPEND HEADERS
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
# --- MAIN LIBRARY -------------------------------------------------------------
ADD_SUBDIRECTORY(src)
# # --- BINDINGS -----------------------------------------------------------------
# ADD_SUBDIRECTORY(bindings)
# # --- EXECUTABLES --------------------------------------------------------------
# ADD_SUBDIRECTORY(utils)
# # --- UNIT TESTS ---------------------------------------------------------------
# ADD_SUBDIRECTORY(unittest)
# # --- CHECK EXAMPLES -----------------------------------------------------------
# ADD_SUBDIRECTORY(examples)
# # --- BENCHMARKS ---------------------------------------------------------------
# ADD_SUBDIRECTORY(benchmark)
# --- PACKAGING ----------------------------------------------------------------
IF(BUILD_WITH_URDF_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_URDFDOM \"\")")
ENDIF()
IF(BUILD_WITH_HPP_FCL_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_HPP_FCL \"\")")
ENDIF()
IF(BUILD_WITH_CPPAD_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD \"\")")
ENDIF()
IF(BUILD_WITH_CPPAD_CODEGEN_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD_CODEGEN \"\")")
ENDIF()
IF(BUILD_WITH_CASADI_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CASADI \"\")")
ENDIF()
IF(BUILD_PYTHON_INTERFACE)
SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_WITH_PYTHON_INTERFACE \"\")")
ENDIF()
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_REQUIRED_COMPONENTS})
FOREACH(cflags ${CFLAGS_DEPENDENCIES})
PKG_CONFIG_APPEND_CFLAGS(${cflags})
ENDFOREACH(cflags ${CFLAGS_DEPENDENCIES})
# Install catkin package.xml
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})