CMakeLists.txt 5.29 KB
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#
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# Copyright (c) 2014-2019 CNRS
# Copyright (c) 2018-2019 INRIA
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#
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CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
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# Check if the submodule cmake have been initialized
IF(NOT EXISTS "${PROJECT_SOURCE_DIR}/cmake/base.cmake")
  MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
ENDIF()

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INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
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INCLUDE(cmake/ide.cmake)
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INCLUDE(cmake/test.cmake)
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SET(PROJECT_NAME eigenpy)
SET(PROJECT_DESCRIPTION "Wrapping Eigen3 -- numpy")
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SET(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy")
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# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
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SETUP_PROJECT()
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STRING(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
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IF(APPLE)
  SET(CMAKE_MACOSX_RPATH TRUE)
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  SET(CMAKE_SKIP_BUILD_RPATH FALSE)
  SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

  #SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
  LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
  IF("${isSystemDir}" STREQUAL "-1")
     SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
  ENDIF("${isSystemDir}" STREQUAL "-1")
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ENDIF(APPLE)

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IF(WIN32)
  SET(LINK copy_if_different)
ELSE(WIN32)
  SET(LINK create_symlink)
ENDIF(WIN32)

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# ----------------------------------------------------
# --- OPTIONS  ---------------------------------------
# ----------------------------------------------------
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OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
OPTION(BUILD_UNIT_TESTS "Build the unitary tests" OFF)

IF(BUILD_UNIT_TESTS)
  SET(DISABLE_TESTS OFF)
ELSE(BUILD_UNIT_TESTS)
  SET(DISABLE_TESTS ON) 
ENDIF(BUILD_UNIT_TESTS)
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FINDPYTHON()

INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
FIND_NUMPY()
INCLUDE_DIRECTORIES(SYSTEM ${NUMPY_INCLUDE_DIRS})

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# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
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ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
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SET(BOOST_COMPONENTS python)
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SEARCH_FOR_BOOST()
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# Add Boost path to include directories.
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INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
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# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
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SET(${PROJECT_NAME}_SOLVERS_HEADERS
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  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
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  )

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SET(${PROJECT_NAME}_HEADERS
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  ${${PROJECT_NAME}_SOLVERS_HEADERS}
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  include/eigenpy/eigenpy.hpp
  include/eigenpy/exception.hpp
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  include/eigenpy/expose.hpp
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  include/eigenpy/details.hpp
  include/eigenpy/fwd.hpp
  include/eigenpy/map.hpp
  include/eigenpy/geometry.hpp
  include/eigenpy/geometry-conversion.hpp
  include/eigenpy/memory.hpp
  include/eigenpy/registration.hpp
  include/eigenpy/angle-axis.hpp
  include/eigenpy/quaternion.hpp
  include/eigenpy/stride.hpp
  include/eigenpy/ref.hpp
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)
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INCLUDE_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/include)
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INCLUDE_DIRECTORIES(${${PROJECT_NAME}_SOURCE_DIR}/include)
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LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})

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# ----------------------------------------------------
# --- TARGETS ----------------------------------------
# ----------------------------------------------------
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SET(${PROJECT_NAME}_SOLVERS_SOURCES
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  src/solvers/preconditioners.cpp
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  src/solvers/solvers.cpp
  )
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SET(${PROJECT_NAME}_SOURCES
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  ${${PROJECT_NAME}_SOLVERS_SOURCES}
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  src/exception.cpp
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  src/eigenpy.cpp
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  src/angle-axis.cpp
  src/quaternion.cpp
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  src/geometry-conversion.cpp
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)
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ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
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SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES OUTPUT_NAME "${PROJECT_NAME}${PYTHON_SOABI}")
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TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME})
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PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen3)
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INSTALL(TARGETS ${PROJECT_NAME}
  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
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ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)

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INCLUDE(GenerateExportHeader)
GENERATE_EXPORT_HEADER(${PROJECT_NAME} EXPORT_FILE_NAME eigenpy/${PROJECT_NAME}_export.h)
target_include_directories(${PROJECT_NAME} INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>")

INSTALL(FILES
  ${CMAKE_CURRENT_BINARY_DIR}/eigenpy/${PROJECT_NAME}_export.h
  DESTINATION include/eigenpy)
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# ----------------------------------------------------
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# --- PYTHON LIBRARY ---------------------------------
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# ----------------------------------------------------
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ADD_SUBDIRECTORY(python)
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# ----------------------------------------------------
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# --- UNIT TEST --------------------------------------
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# ----------------------------------------------------
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ADD_SUBDIRECTORY(unittest)
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PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
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PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
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PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_COMPONENTS})
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SETUP_PROJECT_FINALIZE()