rbdlsim/3rdparty/rbdl/python/CMakeLists.txt

87 lines
2.7 KiB
CMake

IF (RBDL_USE_PYTHON_2)
FIND_PROGRAM ( PYTHON "python2" )
SET (Python_ADDITIONAL_VERSIONS 2.7)
INCLUDE ( FindNumPy2 )
MESSAGE(STATUS ${PYTHON_NUMPY_2_INCLUDE_DIR})
SET( PYTHON_BIN python2)
ELSE(RBDL_USE_PYTHON_2)
FIND_PROGRAM ( PYTHON "python3" )
SET (Python_ADDITIONAL_VERSIONS 3.7)
INCLUDE ( FindNumPy3 )
MESSAGE(STATUS ${PYTHON_NUMPY_3_INCLUDE_DIR})
SET( PYTHON_BIN python3)
ENDIF (RBDL_USE_PYTHON_2)
INCLUDE ( UseCython )
FILE( COPY "crbdl.pxd" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}")
CONFIGURE_FILE (
${CMAKE_CURRENT_SOURCE_DIR}/setup.py.cmake
${CMAKE_CURRENT_BINARY_DIR}/setup.py
)
# Process the rbdl-wrapper.pyx to generate rbdl.pyx BEFORE build time
# else cython_add_module will complain on configuration
EXECUTE_PROCESS (
OUTPUT_VARIABLE WRAPPERGEN_OUT
COMMAND ${PYTHON_BIN}
${CMAKE_CURRENT_SOURCE_DIR}/wrappergen.py
${CMAKE_CURRENT_SOURCE_DIR}/rbdl-wrapper.pyx
${CMAKE_CURRENT_BINARY_DIR}/rbdl.pyx
)
MESSAGE (STATUS ${WRAPPERGEN_OUT})
# Enable C++11 (or C++0x for older compilers)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# If the pyx file is a C++ file, we should specify that here.
set_source_files_properties( ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pyx PROPERTIES CYTHON_IS_CXX TRUE )
# Multi-file cython modules do not appear to be working at the moment.
# NOTE there is some directory property problem in UseCython when build
# from CMAKE_CURRENT_BINARY_DIR
cython_add_module( rbdl-python ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pyx )
#SET_TARGET_PROPERTIES ( rbdl-python PROPERTIES PREFIX "")
SET_TARGET_PROPERTIES ( rbdl-python PROPERTIES OUTPUT_NAME "rbdl")
IF (RBDL_USE_PYTHON_2)
INCLUDE_DIRECTORIES (
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/python
${PROJECT_SOURCE_DIR}
${PYTHON_NUMPY_2_INCLUDE_DIR}
)
ELSE(RBDL_USE_PYTHON_2)
INCLUDE_DIRECTORIES (
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/python
${PROJECT_SOURCE_DIR}
${PYTHON_NUMPY_3_INCLUDE_DIR}
)
ENDIF (RBDL_USE_PYTHON_2)
TARGET_LINK_LIBRARIES (rbdl-python rbdl )
IF (RBDL_BUILD_ADDON_LUAMODEL)
TARGET_LINK_LIBRARIES (rbdl-python rbdl_luamodel )
ENDIF()
IF (RBDL_BUILD_ADDON_URDFREADER)
TARGET_LINK_LIBRARIES (rbdl-python rbdl_urdfreader )
ENDIF()
INSTALL ( CODE "EXECUTE_PROCESS(WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} COMMAND ${PYTHON_BIN} setup.py install)")