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# Copyright (c) 2014-2019 CNRS Copyright (c) 2018-2023 INRIA
set(PROJECT_NAME eigenpy)
set(PROJECT_DESCRIPTION "Bindings between Numpy and Eigen using Boost.Python")
set(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy")
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nPlease run the following command first:\ngit submodule update --init\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
# Disable -Werror on Unix for now.
set(CXX_DISABLE_WERROR True)
set(CMAKE_VERBOSE_MAKEFILE True)
# ----------------------------------------------------
# --- OPTIONS ---------------------------------------
# Need to be set before including base.cmake
# ----------------------------------------------------
option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
if(DEFINED BUILD_UNIT_TESTS)
message(
AUTHOR_WARNING
"BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.\
If you are manually building EigenPy from source in an existing build folder,\
we suggest that you delete your build folder and make a new one.")
set(BUILD_TESTING ${BUILD_UNIT_TESTS})
endif(DEFINED BUILD_UNIT_TESTS)
include("${JRL_CMAKE_MODULES}/base.cmake")
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
include("${JRL_CMAKE_MODULES}/boost.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")
include("${JRL_CMAKE_MODULES}/ide.cmake")
include("${JRL_CMAKE_MODULES}/apple.cmake")
option(GENERATE_PYTHON_STUBS
"Generate the Python stubs associated to the Python library" OFF)
string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
# If needed, fix CMake policy for APPLE systems
if(WIN32)
set(LINK copy_if_different)
else(WIN32)
set(LINK create_symlink)
endif(WIN32)
if(CMAKE_CROSSCOMPILING)
set(PYTHON_COMPONENTS Interpreter NumPy)
else()
set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
endif()
if(WIN32)
link_directories(${PYTHON_LIBRARY_DIRS})
# # Set default Windows build paths SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Single directory for all libraries")
# SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/Bin CACHE PATH
# "Single directory for all executables") SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Sing$le directory for all archives")
endif(WIN32)
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
set_boost_default_options()
export_boost_default_options()
find_package(Boost REQUIRED)
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
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set(${PROJECT_NAME}_UTILS_HEADERS
include/eigenpy/utils/scalar-name.hpp include/eigenpy/utils/is-approx.hpp
include/eigenpy/utils/is-aligned.hpp)
set(${PROJECT_NAME}_SOLVERS_HEADERS
include/eigenpy/solvers/solvers.hpp
include/eigenpy/solvers/preconditioners.hpp
include/eigenpy/solvers/IterativeSolverBase.hpp
include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
include/eigenpy/solvers/ConjugateGradient.hpp
include/eigenpy/solvers/SparseSolverBase.hpp
include/eigenpy/solvers/BasicPreconditioners.hpp
include/eigenpy/solvers/BFGSPreconditioners.hpp)
set(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
include/eigenpy/decompositions/decompositions.hpp
include/eigenpy/decompositions/EigenSolver.hpp
include/eigenpy/decompositions/LDLT.hpp
include/eigenpy/decompositions/LLT.hpp
include/eigenpy/decompositions/SelfAdjointEigenSolver.hpp
include/eigenpy/decompositions/minres.hpp)
set(${PROJECT_NAME}_HEADERS
${${PROJECT_NAME}_UTILS_HEADERS}
${${PROJECT_NAME}_SOLVERS_HEADERS}
${${PROJECT_NAME}_DECOMPOSITIONS_HEADERS}
include/eigenpy/computation-info.hpp
include/eigenpy/eigenpy.hpp
include/eigenpy/exception.hpp
include/eigenpy/scalar-conversion.hpp
include/eigenpy/expose.hpp
include/eigenpy/details.hpp
include/eigenpy/fwd.hpp
include/eigenpy/eigen-allocator.hpp
include/eigenpy/eigen-to-python.hpp
include/eigenpy/eigen-from-python.hpp
include/eigenpy/eigen-typedef.hpp
include/eigenpy/numpy-map.hpp
include/eigenpy/geometry.hpp
include/eigenpy/geometry-conversion.hpp
include/eigenpy/memory.hpp
include/eigenpy/numpy.hpp
include/eigenpy/numpy-allocator.hpp
include/eigenpy/numpy-type.hpp
include/eigenpy/registration.hpp
include/eigenpy/registration_class.hpp
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
include/eigenpy/user-type.hpp
include/eigenpy/ufunc.hpp
include/eigenpy/register.hpp
include/eigenpy/std-array.hpp
include/eigenpy/std-map.hpp
include/eigenpy/std-vector.hpp
include/eigenpy/tensor/eigen-from-python.hpp
include/eigenpy/swig.hpp
include/eigenpy/version.hpp)
list(
APPEND
${PROJECT_NAME}_HEADERS
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
# ----------------------------------------------------
# --- TARGETS ----------------------------------------
# ----------------------------------------------------
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set(${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/preconditioners.cpp
src/solvers/solvers.cpp)
set(${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
src/decompositions/decompositions.cpp)
set(${PROJECT_NAME}_SOURCES
${${PROJECT_NAME}_SOLVERS_SOURCES}
${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
src/exception.cpp
src/eigenpy.cpp
src/numpy.cpp
src/numpy-type.cpp
src/matrix-float.cpp
src/matrix-complex-float.cpp
src/matrix-complex-double.cpp
src/register.cpp
src/matrix-double.cpp
src/matrix-long-double.cpp
src/matrix-complex-long-double.cpp
src/matrix-bool.cpp
src/matrix-int.cpp
src/matrix-long.cpp
src/angle-axis.cpp
src/quaternion.cpp
src/geometry-conversion.cpp
src/optional.cpp
src/version.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(
${PROJECT_NAME} SYSTEM
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<INSTALL_INTERFACE:include>)
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Eigen3::Eigen
INCLUDE_DIRS
${EIGEN3_INCLUDE_DIR})
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Python${PYTHON_VERSION_MAJOR}::NumPy
${NUMPY_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIR})
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
if(NOT WIN32)
target_compile_options(
${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>
"-Wno-conversion")
else()
target_compile_options(${PROJECT_NAME}
PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>)
target_compile_definitions(${PROJECT_NAME} PUBLIC "HAVE_SNPRINTF")
endif()
target_link_boost_python(${PROJECT_NAME} PUBLIC)
install(
TARGETS ${PROJECT_NAME}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
add_header_group(${PROJECT_NAME}_HEADERS)
add_source_group(${PROJECT_NAME}_SOURCES)
Wolfgang Merkt
committed
install(FILES package.xml DESTINATION share/eigenpy)
# Allows Colcon to find non-Ament packages when using workspace underlays
file(
WRITE
${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
"")
install(
FILES
${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
DESTINATION share/ament_index/resource_index/packages)
file(
WRITE
${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
"prepend-non-duplicate;AMENT_PREFIX_PATH;")
install(
FILES
${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
DESTINATION share/${PROJECT_NAME}/hook)
file(WRITE
${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
"prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
install(
FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
DESTINATION share/${PROJECT_NAME}/hook)
Wolfgang Merkt
committed
# ----------------------------------------------------
# --- PYTHON LIBRARY ---------------------------------
# ----------------------------------------------------
# ----------------------------------------------------
# --- UNIT TEST --------------------------------------
# ----------------------------------------------------
pkg_config_append_libs(${PROJECT_NAME})
pkg_config_append_cflags("-I${PYTHON_INCLUDE_DIRS}")
pkg_config_append_cflags("-I${NUMPY_INCLUDE_DIRS}")
pkg_config_append_boost_libs(${BOOST_COMPONENTS})