CMakeLists.txt

# Copyright (c) 2012 CNRS
# Author: Florent Lamiraux
#
# This file is part of hpp-rbprm-corba.
# hpp-rbprm-corba is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp-rbprm-corba is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# hpp-rbprm-corba.  If not, see
# <http://www.gnu.org/licenses/>.

SET(LIBRARY_NAME ${PROJECT_NAME})
SET(IDL_SOURCES
	rbprmbuilder
)

SET(HPP_CORBASERVER_IDL_SOURCES
  common
)

OMNIIDL_INCLUDE_DIRECTORIES(
  ${HPP_CORBASERVER_DATAROOTDIR}/idl ${CMAKE_SOURCE_DIR}/idl
  )

# search for python
FINDPYTHON(2.7 EXACT REQUIRED)

INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
FILE(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm)
FOREACH(IDL ${IDL_SOURCES})
  GENERATE_IDL_CPP (${IDL}
    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
		)
  GENERATE_IDL_PYTHON (${IDL}
	    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
		)
ENDFOREACH()

FOREACH(IDL ${IDL_SOURCES})
  GENERATE_IDL_CPP (hpp/corbaserver/rbprm/${IDL}
    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)
  GENERATE_IDL_PYTHON (hpp/corbaserver/rbprm/${IDL}
    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)

  INSTALL(
    FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}.hh
    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/corbaserver/rbprm)
  INSTALL(
    FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}_idl.py
    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
ENDFOREACH()

FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
  GENERATE_IDL_CPP (${IDL}
    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
    )
  GENERATE_IDL_PYTHON (${IDL}
    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
    )
  INSTALL(FILES
    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
ENDFOREACH()

ADD_LIBRARY(${LIBRARY_NAME} SHARED
  common.hh
  commonSK.cc
  ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.hh
  ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilderSK.cc
  rbprmbuilder.impl.cc
  rbprmbuilder.impl.hh
  server.cc
)

ADD_CUSTOM_TARGET(generate_idl_cpp DEPENDS ${ALL_IDL_CPP_STUBS})
ADD_CUSTOM_TARGET(generate_idl_python DEPENDS ${ALL_IDL_PYTHON_STUBS})
ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_cpp)
ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_python)

PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-model-urdf)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-corbaserver)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-affordance-corba)

INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)

INSTALL(
  FILES
  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/__init__.py
  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
  )
INSTALL(
  FILES
	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/client.py
	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmfullbody.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/problem_solver.py
  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
  )
INSTALL(
  FILES
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/__init__.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools//generateROMs.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/plot_analytics.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
        ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools
  )
  
install(FILES
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/__init__.py
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/LA_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/LL_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/RA_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/RL_com.ineq
	DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/data/com_inequalities/hrp2
)

install(FILES
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/__init__.py
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hyq/lfleg_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hyq/lhleg_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hyq/rhleg_com.ineq
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hyq/rfleg_com.ineq
	DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/data/com_inequalities/hyq
)

install(FILES
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/__init__.py
	DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/data/com_inequalities/
)

install(FILES
	${CMAKE_CURRENT_SOURCE_DIR}/../data/com_inequalities/hrp2/__init__.py
	DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/data/
)
# Stand alone corba server
ADD_EXECUTABLE (hpp-rbprm-server hpp-rbprm-corba.cc)
TARGET_LINK_LIBRARIES (hpp-rbprm-server ${LIBRARY_NAME} hpp-rbprm)
PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-model-urdf)

INSTALL (TARGETS hpp-rbprm-server DESTINATION ${CMAKE_INSTALL_BINDIR})