diff --git a/orocos_kdl/CMakeLists.txt b/orocos_kdl/CMakeLists.txt index 30b88e65..bf6f22e6 100644 --- a/orocos_kdl/CMakeLists.txt +++ b/orocos_kdl/CMakeLists.txt @@ -47,11 +47,11 @@ ELSE ( NOT CMAKE_BUILD_TYPE ) MESSAGE( STATUS "Build type set to '${CMAKE_BUILD_TYPE}' by user." ) ENDIF ( NOT CMAKE_BUILD_TYPE ) -IF(MSVC) - SET( KDL_CFLAGS "/W4 /WX" ) -ELSE(MSVC) - SET( KDL_CFLAGS "-Wall -Werror=all -Wextra -Werror=extra" ) -ENDIF(MSVC) +if(MSVC) + add_compile_options(/W4 /WX) +else(MSVC) + add_compile_options(-Wall -Werror=all -Wextra -Werror=extra) +endif(MSVC) find_package(Eigen3 QUIET) if(NOT EIGEN3_FOUND) @@ -63,8 +63,7 @@ SET(KDL_CFLAGS "${KDL_CFLAGS} -I${EIGEN3_INCLUDE_DIR}") # Check the platform STL containers capabilities include(cmake/CheckSTLContainers.cmake) CHECK_STL_CONTAINERS() - -# Set the default option appropriately +# Set the default option accordingly if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES) set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT OFF) else(HAVE_STL_CONTAINER_INCOMPLETE_TYPES) @@ -120,7 +119,7 @@ include(CMakePackageConfigHelpers) # Generate CMake package configuration configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl-config.cmake.in ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake - INSTALL_DESTINATION share/orocos_kdl/cmake + INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl ) write_basic_package_version_file( @@ -133,25 +132,25 @@ install( FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake - DESTINATION share/orocos_kdl/cmake + DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl ) -INSTALL(FILES cmake/FindEigen3.cmake DESTINATION share/orocos_kdl/cmake) -INSTALL(EXPORT OrocosKDLTargets DESTINATION share/orocos_kdl/cmake) +INSTALL(FILES cmake/FindEigen3.cmake DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl) +INSTALL(EXPORT OrocosKDLTargets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl) # Generate pkg-config package configuration configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in ${PROJECT_BINARY_DIR}/orocos_kdl.pc - INSTALL_DESTINATION lib${LIB_SUFFIX}/pkgconfig + INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig ) configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in ${PROJECT_BINARY_DIR}/orocos-kdl.pc - INSTALL_DESTINATION lib${LIB_SUFFIX}/pkgconfig + INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig ) install( FILES ${PROJECT_BINARY_DIR}/orocos_kdl.pc ${PROJECT_BINARY_DIR}/orocos-kdl.pc - DESTINATION lib${LIB_SUFFIX}/pkgconfig + DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig ) diff --git a/orocos_kdl/src/CMakeLists.txt b/orocos_kdl/src/CMakeLists.txt index 954b8fc0..6ba372b4 100644 --- a/orocos_kdl/src/CMakeLists.txt +++ b/orocos_kdl/src/CMakeLists.txt @@ -58,7 +58,6 @@ TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES SOVERSION "${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}" VERSION "${KDL_VERSION}" - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}" PUBLIC_HEADER "${KDL_HPPS};${CMAKE_CURRENT_BINARY_DIR}/config.h" ) diff --git a/orocos_kdl/tests/CMakeLists.txt b/orocos_kdl/tests/CMakeLists.txt index f920d10e..0c36ad74 100644 --- a/orocos_kdl/tests/CMakeLists.txt +++ b/orocos_kdl/tests/CMakeLists.txt @@ -5,58 +5,42 @@ IF(ENABLE_TESTS) ADD_EXECUTABLE(framestest framestest.cpp test-runner.cpp) TARGET_LINK_LIBRARIES(framestest orocos-kdl ${CPPUNIT}) - SET(TESTNAME "framestest") - SET_TARGET_PROPERTIES( framestest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(framestest PRIVATE TESTNAME="framestest") ADD_TEST(NAME framestest COMMAND framestest) ADD_EXECUTABLE(kinfamtest kinfamtest.cpp test-runner.cpp) TARGET_LINK_LIBRARIES(kinfamtest orocos-kdl ${CPPUNIT}) - SET(TESTNAME "kinfamtest") - SET_TARGET_PROPERTIES( kinfamtest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}") + target_compile_definitions(kinfamtest PRIVATE TESTNAME="kinfamtest") ADD_TEST(NAME kinfamtest COMMAND kinfamtest) ADD_EXECUTABLE(solvertest solvertest.cpp test-runner.cpp) TARGET_LINK_LIBRARIES(solvertest orocos-kdl ${CPPUNIT}) - SET(TESTNAME "solvertest") - SET_TARGET_PROPERTIES( solvertest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(solvertest PRIVATE TESTNAME="solvertest") ADD_TEST(NAME solvertest COMMAND solvertest) ADD_EXECUTABLE(inertiatest inertiatest.cpp test-runner.cpp) TARGET_LINK_LIBRARIES(inertiatest orocos-kdl ${CPPUNIT}) - SET(TESTNAME "inertiatest") - SET_TARGET_PROPERTIES( inertiatest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(inertiatest PRIVATE TESTNAME="inertiatest") ADD_TEST(NAME inertiatest COMMAND inertiatest) ADD_EXECUTABLE(jacobiantest jacobiantest.cpp test-runner.cpp) - SET(TESTNAME "jacobiantest") TARGET_LINK_LIBRARIES(jacobiantest orocos-kdl ${CPPUNIT}) - SET_TARGET_PROPERTIES( jacobiantest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(jacobiantest PRIVATE TESTNAME="jacobiantest") ADD_TEST(NAME jacobiantest COMMAND jacobiantest) ADD_EXECUTABLE(jacobiandottest jacobiandottest.cpp test-runner.cpp) - SET(TESTNAME "jacobiandottest") TARGET_LINK_LIBRARIES(jacobiandottest orocos-kdl ${CPPUNIT}) - SET_TARGET_PROPERTIES( jacobiandottest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(jacobiandottest PRIVATE TESTNAME="jacobiandottest") ADD_TEST(NAME jacobiandottest COMMAND jacobiandottest) ADD_EXECUTABLE(velocityprofiletest velocityprofiletest.cpp test-runner.cpp) - SET(TESTNAME "velocityprofiletest") TARGET_LINK_LIBRARIES(velocityprofiletest orocos-kdl ${CPPUNIT}) - SET_TARGET_PROPERTIES( velocityprofiletest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(velocityprofiletest PRIVATE TESTNAME="velocityprofiletest") ADD_TEST(NAME velocityprofiletest COMMAND velocityprofiletest) ADD_EXECUTABLE(treeinvdyntest treeinvdyntest.cpp test-runner.cpp) - SET(TESTNAME "treeinvdyntest") TARGET_LINK_LIBRARIES(treeinvdyntest orocos-kdl ${CPPUNIT}) - SET_TARGET_PROPERTIES( treeinvdyntest PROPERTIES - COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS} -DTESTNAME=\"\\\"${TESTNAME}\\\"\" ") + target_compile_definitions(treeinvdyntest PRIVATE TESTNAME="treeinvdyntest") ADD_TEST(NAME treeinvdyntest COMMAND treeinvdyntest) # ADD_EXECUTABLE(rallnumbertest rallnumbertest.cpp)