CMAKE_MINIMUM_REQUIRED(VERSION 2.6) CMAKE_POLICY(SET CMP0048 NEW) SET ( RBDL_VERSION_MAJOR 2 ) SET ( RBDL_VERSION_MINOR 5 ) SET ( RBDL_VERSION_PATCH 0 ) SET ( RBDL_VERSION ${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH} ) SET ( RBDL_SO_VERSION ${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH} ) SET (PROJECT_VERSION ${RBDL_VERSION}) PROJECT (RBDL VERSION ${RBDL_VERSION}) LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake ) INCLUDE_DIRECTORIES ( ${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_BINARY_DIR}/include ) # SET (CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib") INCLUDE(GNUInstallDirs) SET_TARGET_PROPERTIES ( ${PROJECT_EXECUTABLES} PROPERTIES LINKER_LANGUAGE CXX ) # Set a default build type to 'Release' if none was specified IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) MESSAGE(STATUS "Setting build type to 'Release' as none was specified.") SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE) # Set the possible values of build type for cmake-gui SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo") ENDIF() # Find and use the system's Eigen3 library FIND_PACKAGE (Eigen3 3.0.0) IF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH) MESSAGE (WARNING "Could not find Eigen3 on your system. Install it or use the slower SimpleMath library by enabling RBDL_USE_SIMPLE_MATH.") ENDIF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH) IF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH) INCLUDE_DIRECTORIES (${EIGEN3_INCLUDE_DIR}) ENDIF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH) # Options SET (RBDL_BUILD_STATIC_DEFAULT OFF) IF (MSVC) SET (RBDL_BUILD_STATIC_DEFAULT ON) ENDIF (MSVC) OPTION (RBDL_BUILD_STATIC "Build statically linked library (otherwise dynamiclly linked)" ${RBDL_BUILD_STATIC_DEFAULT}) OPTION (RBDL_BUILD_TESTS "Build the test executables" OFF) OPTION (RBDL_ENABLE_LOGGING "Enable logging (warning: major impact on performance!)" OFF) OPTION (RBDL_USE_SIMPLE_MATH "Use slow math instead of the fast Eigen3 library (faster compilation)" OFF) OPTION (RBDL_STORE_VERSION "Enable storing of version information in the library (requires build from valid repository)" OFF) OPTION (RBDL_BUILD_ADDON_URDFREADER "Build the (experimental) urdf reader" OFF) OPTION (RBDL_BUILD_ADDON_BENCHMARK "Build the benchmarking tool" OFF) OPTION (RBDL_BUILD_ADDON_LUAMODEL "Build the lua model reader" OFF) OPTION (RBDL_BUILD_PYTHON_WRAPPER "Build experimental python wrapper" OFF) OPTION (RBDL_BUILD_ADDON_GEOMETRY "Build the geometry library" OFF) OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF) # Addons IF (RBDL_BUILD_ADDON_URDFREADER) ADD_SUBDIRECTORY ( addons/urdfreader ) ENDIF (RBDL_BUILD_ADDON_URDFREADER) IF (RBDL_BUILD_ADDON_BENCHMARK) ADD_SUBDIRECTORY ( addons/benchmark ) ENDIF (RBDL_BUILD_ADDON_BENCHMARK) IF (RBDL_BUILD_ADDON_LUAMODEL) ADD_SUBDIRECTORY ( addons/luamodel ) ENDIF (RBDL_BUILD_ADDON_LUAMODEL) IF(RBDL_BUILD_ADDON_MUSCLE) SET(RBDL_BUILD_ADDON_GEOMETRY ON CACHE BOOL "Build the geometry library" FORCE) ADD_SUBDIRECTORY ( addons/muscle ) IF(RBDL_BUILD_TESTS) ADD_SUBDIRECTORY ( addons/muscle/tests ) ENDIF(RBDL_BUILD_TESTS) ENDIF(RBDL_BUILD_ADDON_MUSCLE) IF(RBDL_BUILD_ADDON_GEOMETRY) ADD_SUBDIRECTORY ( addons/geometry ) IF(RBDL_BUILD_TESTS) ADD_SUBDIRECTORY ( addons/geometry/tests ) ENDIF(RBDL_BUILD_TESTS) ENDIF(RBDL_BUILD_ADDON_GEOMETRY) IF (RBDL_BUILD_TESTS) ADD_SUBDIRECTORY ( tests ) ENDIF (RBDL_BUILD_TESTS) # Source files for RBDL SET ( RBDL_SOURCES src/rbdl_version.cc src/rbdl_mathutils.cc src/rbdl_utils.cc src/Constraints.cc src/Dynamics.cc src/Logging.cc src/Joint.cc src/Model.cc src/Kinematics.cc ) IF (MSVC AND NOT RBDL_BUILD_STATIC) MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please enable RBDL_BUILD_STATIC.") ENDIF (MSVC AND NOT RBDL_BUILD_STATIC) # Static / dynamic builds IF (RBDL_BUILD_STATIC) ADD_LIBRARY ( rbdl-static STATIC ${RBDL_SOURCES} ) IF (NOT WIN32) SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES PREFIX "lib") ENDIF (NOT WIN32) SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES OUTPUT_NAME "rbdl") IF (RBDL_BUILD_ADDON_LUAMODEL) TARGET_LINK_LIBRARIES ( rbdl-static rbdl_luamodel-static ) ENDIF (RBDL_BUILD_ADDON_LUAMODEL) INSTALL (TARGETS rbdl-static LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} ) ELSE (RBDL_BUILD_STATIC) ADD_LIBRARY ( rbdl SHARED ${RBDL_SOURCES} ) SET_TARGET_PROPERTIES ( rbdl PROPERTIES VERSION ${RBDL_VERSION} SOVERSION ${RBDL_SO_VERSION} ) INSTALL (TARGETS rbdl LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} ) ENDIF (RBDL_BUILD_STATIC) IF (RBDL_STORE_VERSION) # Set versioning information that can be queried during runtime EXEC_PROGRAM("hg" ${CMAKE_CURRENT_SOURCE_DIR} ARGS "id -i" OUTPUT_VARIABLE RBDL_BUILD_REVISION) EXEC_PROGRAM("hg" ${CMAKE_CURRENT_SOURCE_DIR} ARGS "branch" OUTPUT_VARIABLE RBDL_BUILD_BRANCH) SET (RBDL_BUILD_TYPE ${CMAKE_BUILD_TYPE}) ELSE (RBDL_STORE_VERSION) SET (RBDL_BUILD_REVISION "unknown") SET (RBDL_BUILD_BRANCH "unknown") SET (RBDL_BUILD_TYPE "unknown") ENDIF (RBDL_STORE_VERSION) CONFIGURE_FILE ( "${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/rbdl_config.h.cmake" "${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h" ) # Python wrapper IF (RBDL_BUILD_PYTHON_WRAPPER) add_subdirectory ( python ) ENDIF (RBDL_BUILD_PYTHON_WRAPPER) # Installation FILE ( GLOB headers ${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/*.h ${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h ) INSTALL ( FILES ${headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl ) # Setup of SimpleMath install settings IF (RBDL_USE_SIMPLE_MATH) INSTALL ( DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/SimpleMath" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl ) ENDIF (RBDL_USE_SIMPLE_MATH) # pkg-config CONFIGURE_FILE ( ${CMAKE_CURRENT_SOURCE_DIR}/rbdl.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc @ONLY ) INSTALL ( FILES ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig ) # Packaging SET(CPACK_GENERATOR "DEB") SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis ") SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "the Rigid Body Dynamics Library (RBDL)") SET(CPACK_PACKAGE_VENDOR "Martin Felis") SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md") SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") SET(CPACK_PACKAGE_VERSION_MAJOR ${RBDL_VERSION_MAJOR}) SET(CPACK_PACKAGE_VERSION_MINOR ${RBDL_VERSION_MINOR}) SET(CPACK_PACKAGE_VERSION_PATCH ${RBDL_VERSION_PATCH}) SET(CPACK_PACKAGE_INSTALL_DIRECTORY "CPACK_PACKAGE ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}") SET(CPACK_PACKAGE_FILE_NAME "rbdl-${CMAKE_LIBRARY_ARCHITECTURE}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}") SET(CPACK_PACKAGE_EXECUTABLES "rbdl_luamodel_util;RBDL Lua Model Utility") INCLUDE(CPack)