Merge pull request #12 from nim65s/devel

[CMake] add BUILD_PYTHON_INTERFACE option

CMakeLists.txt

@@ -20,10 +20,11 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-dyninv)
 SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
-SET(PROJECT_URL "http://github.com/laas/sot-dyninv")
+SET(PROJECT_URL "http://github.com/stack-of-tasks/sot-dyninv")
 
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
 SET(DOXYGEN_USE_MATHJAX YES)
@@ -135,22 +136,18 @@ foreach(lib solver-op-space solver-dyn-reduced solver-dyn-red2)
 	ENDIF(WIN32)
 endforeach(lib)
 
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+IF(BUILD_PYTHON_INTERFACE)
+  FINDPYTHON()
+  FIND_NUMPY()
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+ENDIF(BUILD_PYTHON_INTERFACE)
+
 # Add subdirectories.
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(python)
 ADD_SUBDIRECTORY(unitTesting)
 
-# Configure some of the python files
-CONFIGURE_FILE(
-   "${CMAKE_CURRENT_SOURCE_DIR}/python/robot_specific.py.cmake"
-   "${CMAKE_CURRENT_BINARY_DIR}/python/robot_specific.py"
-)
-
-#INCLUDE(cmake/python.cmake)
-#INSTALL(FILES
-#  "${CMAKE_CURRENT_BINARY_DIR}/python/robotSpecific.py"
-#  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
-#)
-
 SETUP_PROJECT_FINALIZE()
 SETUP_PROJECT_CPACK()

python/CMakeLists.txt

-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
+IF(BUILD_PYTHON_INTERFACE)
 
-INSTALL(
-  FILES ros/sot-concept.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
-)
+  CONFIGURE_FILE(
+    "${CMAKE_CURRENT_SOURCE_DIR}/robot_specific.py.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/robot_specific.py"
+    )
 
+  INSTALL(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/robot_specific.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
+    )
+
+  INSTALL(
+    FILES ros/sot-concept.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
+    )
+
+ENDIF(BUILD_PYTHON_INTERFACE)

src/CMakeLists.txt

@@ -14,9 +14,6 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
 
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-
 IF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
   ADD_DEFINITIONS(-DDEBUG=2)
 ENDIF(CMAKE_BUILD_TYPE STREQUAL "DEBUG")
@@ -37,7 +34,6 @@ FOREACH(header ${headers})
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 ENDFOREACH(header)
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/include)
-LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
 
 # --- COMPILATION OF PLUGINS
 FOREACH(lib ${libs})
@@ -62,22 +58,23 @@ FOREACH(lib ${libs})
 
   INSTALL(TARGETS ${lib} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
   # build python submodule
-  STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
-  DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
-    ${lib}
-    sot-dyninv-${PYTHON_LIBRARY_NAME}-wrap
-    )
+  IF(BUILD_PYTHON_INTERFACE)
+    STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
+    DYNAMIC_GRAPH_PYTHON_MODULE("sot/dyninv/${PYTHON_LIBRARY_NAME}"
+      ${lib}
+      sot-dyninv-${PYTHON_LIBRARY_NAME}-wrap
+      )
+  ENDIF(BUILD_PYTHON_INTERFACE)
 ENDFOREACH(lib)
 
 # Install empty __init__.py files in intermediate directories.
-INSTALL(FILES
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_6d.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_passing_point.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn_relative.py
-  ${CMAKE_CURRENT_BINARY_DIR}/../python/robot_specific.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
-)
-
-MESSAGE(STATUS DESTINATION ${PYTHON_SITELIB} )
+IF(BUILD_PYTHON_INTERFACE)
+  INSTALL(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/__init__.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_6d.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_task_dyn_passing_point.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dyninv/meta_tasks_dyn_relative.py
+    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dyninv
+    )
+ENDIF(BUILD_PYTHON_INTERFACE)