233 lines
7.8 KiB
CMake
233 lines
7.8 KiB
CMake
CMAKE_MINIMUM_REQUIRED(VERSION 3.13)
|
|
|
|
SET ( RBDL_VERSION_MAJOR 2 )
|
|
SET ( RBDL_VERSION_MINOR 6 )
|
|
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 (SYSTEM ${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_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
|
|
OPTION (RBDL_BUILD_ADDON_GEOMETRY "Build the geometry library" OFF)
|
|
OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF)
|
|
OPTION (RBDL_BUILD_ADDON_MUSCLE_FITTING "Build muscle library fitting functions (requires Ipopt)" OFF)
|
|
|
|
SET (RBDL_BUILD_COMPILER_ID ${CMAKE_CXX_COMPILER_ID})
|
|
SET (RBDL_BUILD_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION})
|
|
|
|
# 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)
|
|
IF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
|
|
SET(CUSTOM_IPOPT_PATH "" CACHE PATH "Path to specific IPOPT Installation")
|
|
ENDIF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
|
|
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"
|
|
CXX_STANDARD 11
|
|
CXX_STANDARD_REQUIRED ON
|
|
CXX_EXTENSIONS OFF
|
|
)
|
|
|
|
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}
|
|
CXX_STANDARD 11
|
|
CXX_STANDARD_REQUIRED ON
|
|
CXX_EXTENSIONS OFF
|
|
)
|
|
|
|
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
|
|
EXECUTE_PROCESS(COMMAND "git" "rev-parse" "HEAD"
|
|
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
|
OUTPUT_VARIABLE RBDL_BUILD_COMMIT)
|
|
STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_COMMIT "${RBDL_BUILD_COMMIT}")
|
|
EXECUTE_PROCESS(COMMAND "git" "describe" "--all" "--dirty" "--long"
|
|
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
|
OUTPUT_VARIABLE RBDL_BUILD_BRANCH)
|
|
STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_BRANCH "${RBDL_BUILD_BRANCH}")
|
|
SET (RBDL_BUILD_TYPE ${CMAKE_BUILD_TYPE})
|
|
ELSE (RBDL_STORE_VERSION)
|
|
SET (RBDL_BUILD_COMMIT "unknown")
|
|
SET (RBDL_BUILD_BRANCH "unknown")
|
|
SET (RBDL_BUILD_TYPE "unknown")
|
|
ENDIF (RBDL_STORE_VERSION)
|
|
|
|
CONFIGURE_FILE (
|
|
"${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 ${CMAKE_INSTALL_LIBDIR}/pkgconfig
|
|
)
|
|
|
|
# Packaging
|
|
SET(CPACK_GENERATOR "DEB")
|
|
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis <martin@fysx.org>")
|
|
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "the Rigid Body Dynamics Library (RBDL)")
|
|
SET(CPACK_PACKAGE_VENDOR "Martin Felis")
|
|
SET(CPACK_PACKAGE_DESCRIPTION_FILE "${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)
|