[CMake] Rework unit tests

CMakeLists.txt

@@ -48,6 +48,7 @@ ENDIF(APPLE)
 # --- OPTIONS  ---------------------------------------
 # ----------------------------------------------------
 OPTION (EIGEN_NUMPY_ALIGNED "Directly aligned data between Numpy and Eigen" OFF)
+OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
 
 IF(EIGEN_NUMPY_ALIGNED)
   ADD_DEFINITIONS(-DEIGENPY_ALIGNED)
@@ -104,7 +105,6 @@ ENDFOREACH(header)
 # ----------------------------------------------------
 # --- TARGETS ----------------------------------------
 # ----------------------------------------------------
-
 SET(${PROJECT_NAME}_SOURCES
   src/exception.cpp
   src/eigenpy.cpp
@@ -122,15 +122,11 @@ INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
 # ----------------------------------------------------
 # --- UNIT TEST --------------------------------------
 # ----------------------------------------------------
-ADD_LIBRARY(matrix SHARED unittest/matrix.cpp)
-TARGET_LINK_LIBRARIES(matrix ${PROJECT_NAME})
-TARGET_LINK_BOOST_PYTHON(matrix)
-SET_TARGET_PROPERTIES(matrix PROPERTIES PREFIX "")
-
-ADD_LIBRARY(geometry SHARED unittest/geometry.cpp)
-TARGET_LINK_LIBRARIES(geometry ${PROJECT_NAME})
-TARGET_LINK_BOOST_PYTHON(geometry)
-SET_TARGET_PROPERTIES(geometry PROPERTIES PREFIX "")
+ADD_SUBDIRECTORY(unittest)
+
+# ----------------------------------------------------
+# --- EXECUTABLES ------------------------------------
+# ----------------------------------------------------
 
 IF(EIGEN_NUMPY_ALIGNED)
   PKG_CONFIG_APPEND_CFLAGS("-DEIGENPY_ALIGNED")

unittest/CMakeLists.txt

+# 
+# Copyright (c) 2016 CNRS
+# 
+# This file is part of eigenpy
+# Pinocchio 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.
+# Pinocchio 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
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
+MACRO(ADD_LIB_UNIT_TEST test PKGS)
+  IF (BUILD_UNIT_TESTS)
+    ADD_LIBRARY(${test} SHARED ${test})
+  ELSE (BUILD_UNIT_TESTS)
+    ADD_LIBRARY(${test} SHARED EXCLUDE_FROM_ALL ${test})
+  ENDIF (BUILD_UNIT_TESTS)
+  FOREACH(PKG ${PKGS})
+    PKG_CONFIG_USE_DEPENDENCY(${test} ${PKG})
+  ENDFOREACH(PKG)
+  TARGET_LINK_LIBRARIES(${test} ${PROJECT_NAME})
+  TARGET_LINK_BOOST_PYTHON(${test})
+  SET_TARGET_PROPERTIES(${test} PROPERTIES PREFIX "")
+
+  IF(APPLE)
+    # We need to change the extension for python bindings
+    SET_TARGET_PROPERTIES(${test} PROPERTIES SUFFIX ".so")
+  ENDIF(APPLE)
+  
+  #ADD_TEST(test ${test} COMMAND ${test})
+  #ADD_DEPENDENCIES(check ${test})
+ENDMACRO(ADD_LIB_UNIT_TEST)
+
+ADD_LIB_UNIT_TEST(matrix "eigen3")
+ADD_LIB_UNIT_TEST(geometry "eigen3")
+