CMakeLists.txt 5.99 KB
Newer Older
Nicolas Mansard's avatar
Nicolas Mansard committed
1
#
2
# Copyright (c) 2015-2017 LAAS-CNRS
jcarpent's avatar
jcarpent committed
3
4
5
6
7
8
9
10
11
12
13
14
#
# This file is part of eigenpy.
# eigenpy 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.
# eigenpy 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 Lesser General Public License for more details.  You should
# have received a copy of the GNU Lesser General Public License along
# with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
Nicolas Mansard's avatar
Nicolas Mansard committed
15
#
Nicolas Mansard's avatar
IVIGIT.  
Nicolas Mansard committed
16

Nicolas Mansard's avatar
Nicolas Mansard committed
17
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
18

Nicolas Mansard's avatar
Nicolas Mansard committed
19
20
21
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
Nicolas Mansard's avatar
IVIGIT.    
Nicolas Mansard committed
22

Nicolas Mansard's avatar
Nicolas Mansard committed
23
24
SET(PROJECT_NAME eigenpy)
SET(PROJECT_DESCRIPTION "Wrapping Eigen3 -- numpy")
25
SET(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy")
jcarpent's avatar
jcarpent committed
26
OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
Nicolas Mansard's avatar
IVIGIT.  
Nicolas Mansard committed
27

Nicolas Mansard's avatar
Nicolas Mansard committed
28
29
30
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
Nicolas Mansard's avatar
IVIGIT.  
Nicolas Mansard committed
31

Nicolas Mansard's avatar
Nicolas Mansard committed
32
SETUP_PROJECT()
33
STRING(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
Nicolas Mansard's avatar
Nicolas Mansard committed
34

35
36
IF(APPLE)
  SET(CMAKE_MACOSX_RPATH TRUE)
jcarpent's avatar
jcarpent committed
37
38
39
40
41
42
43
44
45
  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")
46
47
ENDIF(APPLE)

48
49
50
51
52
53
IF(WIN32)
  SET(LINK copy_if_different)
ELSE(WIN32)
  SET(LINK create_symlink)
ENDIF(WIN32)

54
55
56
57
# ----------------------------------------------------
# --- OPTIONS  ---------------------------------------
# ----------------------------------------------------
OPTION (EIGEN_NUMPY_ALIGNED "Directly aligned data between Numpy and Eigen" OFF)
jcarpent's avatar
jcarpent committed
58
OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
59
60
61
62
63

IF(EIGEN_NUMPY_ALIGNED)
  ADD_DEFINITIONS(-DEIGENPY_ALIGNED)
ENDIF(EIGEN_NUMPY_ALIGNED)

Nicolas Mansard's avatar
Nicolas Mansard committed
64
65
66
# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
67
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
jcarpent's avatar
jcarpent committed
68

Nicolas Mansard's avatar
Nicolas Mansard committed
69
70
SET(BOOST_COMPONENTS python)
SEARCH_FOR_BOOST()
jcarpent's avatar
jcarpent committed
71
72
73
74
75
# Add Boost path to include directories.
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})

FINDPYTHON(2.7 EXACT REQUIRED)
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
76
FIND_NUMPY()
jcarpent's avatar
jcarpent committed
77
INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIRS})
Nicolas Mansard's avatar
IVIGIT.  
Nicolas Mansard committed
78

Nicolas Mansard's avatar
Nicolas Mansard committed
79
80
81
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
82
SET(HEADERS
83
84
85
86
87
88
89
90
91
92
  eigenpy.hpp
  exception.hpp
  details.hpp
  fwd.hpp
  map.hpp
  geometry.hpp
  memory.hpp
  registration.hpp
  angle-axis.hpp
  quaternion.hpp
93
94
  solvers/solvers.hpp
  solvers/IterativeSolverBase.hpp
95
  solvers/LeastSquaresConjugateGradient.hpp
96
97
  solvers/ConjugateGradient.hpp
  solvers/SparseSolverBase.hpp
Nicolas Mansard's avatar
Nicolas Mansard committed
98
99
)
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy")
100
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy/solvers")
Nicolas Mansard's avatar
Nicolas Mansard committed
101
INCLUDE_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy)
Nicolas Mansard's avatar
Nicolas Mansard committed
102

103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
#FOREACH(header ${HEADERS})
#  GET_FILENAME_COMPONENT(headerName ${header} NAME)
#  IF(WIN32)
#    execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
#                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
#                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/)
#  ELSE(WIN32)
#    execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
#                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
#                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${headerName})
#  ENDIF(WIN32)
#  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
#	  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
#          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ)
#ENDFOREACH(header)

SET(${PROJECT_NAME}_HEADERS)
120
FOREACH(header ${HEADERS})
Nicolas Mansard's avatar
Nicolas Mansard committed
121
  GET_FILENAME_COMPONENT(headerName ${header} NAME)
122
123
124
125
126
127
128
129
  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E ${LINK}
    ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${header})
  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/src/${header}
    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}/${headerPath}
          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
  LIST(APPEND ${PROJECT_NAME}_HEADERS src/${header})
Nicolas Mansard's avatar
Nicolas Mansard committed
130
131
132
133
134
ENDFOREACH(header)

# ----------------------------------------------------
# --- TARGETS ----------------------------------------
# ----------------------------------------------------
135
SET(${PROJECT_NAME}_SOURCES
Nicolas Mansard's avatar
Nicolas Mansard committed
136
  src/exception.cpp
137
  src/eigenpy.cpp
Nicolas Mansard's avatar
Nicolas Mansard committed
138
139
  src/angle-axis.cpp
  src/quaternion.cpp
140
  src/solvers/solvers.cpp
141
)
Nicolas Mansard's avatar
Nicolas Mansard committed
142

143
ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
144

145
TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME})
146
PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen3)
147
INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Nicolas Mansard's avatar
Nicolas Mansard committed
148
149
150
151

# ----------------------------------------------------
# --- UNIT TEST --------------------------------------
# ----------------------------------------------------
jcarpent's avatar
jcarpent committed
152
153
154
155
156
ADD_SUBDIRECTORY(unittest)

# ----------------------------------------------------
# --- EXECUTABLES ------------------------------------
# ----------------------------------------------------
Nicolas Mansard's avatar
Nicolas Mansard committed
157

158
159
160
161
162
# ----------------------------------------------------
# --- PYTHON BINDINGS --------------------------------
# ----------------------------------------------------
ADD_SUBDIRECTORY(python)

163
164
165
IF(EIGEN_NUMPY_ALIGNED)
  PKG_CONFIG_APPEND_CFLAGS("-DEIGENPY_ALIGNED")
ENDIF(EIGEN_NUMPY_ALIGNED)
166
167

PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
Nicolas Mansard's avatar
Nicolas Mansard committed
168
PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
169
PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
170
PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_COMPONENTS})
Nicolas Mansard's avatar
Nicolas Mansard committed
171
172

SETUP_PROJECT_FINALIZE()