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#
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# Copyright (c) 2015-2017 LAAS-CNRS
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#
# 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/>.
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#
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CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
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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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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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OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
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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  ---------------------------------------
# ----------------------------------------------------
OPTION (EIGEN_NUMPY_ALIGNED "Directly aligned data between Numpy and Eigen" OFF)
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OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
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IF(EIGEN_NUMPY_ALIGNED)
  ADD_DEFINITIONS(-DEIGENPY_ALIGNED)
ENDIF(EIGEN_NUMPY_ALIGNED)

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# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
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ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
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SET(BOOST_COMPONENTS python)
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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FINDPYTHON(2.7 EXACT REQUIRED)
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INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
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FIND_NUMPY()
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INCLUDE_DIRECTORIES(SYSTEM ${NUMPY_INCLUDE_DIRS})
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# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
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SET(${PROJECT_NAME}_SOLVERS_HEADERS
  solvers/solvers.hpp
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  solvers/preconditioners.hpp
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  solvers/IterativeSolverBase.hpp
  solvers/LeastSquaresConjugateGradient.hpp
  solvers/ConjugateGradient.hpp
  solvers/SparseSolverBase.hpp
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  solvers/BasicPreconditioners.hpp
  solvers/BFGSPreconditioners.hpp
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  )

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SET(HEADERS
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  ${${PROJECT_NAME}_SOLVERS_HEADERS}
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  eigenpy.hpp
  exception.hpp
  details.hpp
  fwd.hpp
  map.hpp
  geometry.hpp
  memory.hpp
  registration.hpp
  angle-axis.hpp
  quaternion.hpp
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)
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MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy")
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MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy/solvers")
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INCLUDE_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy)
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SET(${PROJECT_NAME}_HEADERS)
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FOREACH(header ${HEADERS})
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  GET_FILENAME_COMPONENT(headerName ${header} NAME)
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  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})
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ENDFOREACH(header)

# ----------------------------------------------------
# --- 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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)
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ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
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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} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
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ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)

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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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IF(EIGEN_NUMPY_ALIGNED)
  PKG_CONFIG_APPEND_CFLAGS("-DEIGENPY_ALIGNED")
ENDIF(EIGEN_NUMPY_ALIGNED)
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PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
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PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
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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()