From b188a92a090fccec0b88eda487931ba4c4eea11d Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Tue, 2 Nov 2010 22:17:14 +0100
Subject: [PATCH] Switch to submodule.
---
.gitmodules | 3 +
CMakeLists.txt | 314 +++---------------
cmake | 1 +
.../CMakeDirectoryInformation.cmake | 21 --
.../documentation.dir/DependInfo.cmake | 8 -
doc/CMakeFiles/documentation.dir/build.make | 71 ----
.../documentation.dir/cmake_clean.cmake | 9 -
.../documentation.dir/progress.make | 2 -
doc/CMakeFiles/progress.marks | 1 -
doc/CMakeLists.txt | 32 --
doc/Doxyfile.extra.in | 10 +
doc/Makefile | 185 -----------
doc/cmake_install.cmake | 46 ---
doc/footer.html | 11 -
doc/header.html | 7 -
doc/package.css | 230 -------------
doc/package.dox | 295 ----------------
doc/package.dox.cmake | 295 ----------------
include/CMakeLists.txt | 19 +-
src/CMakeLists.txt | 57 ++--
unitTesting/CMakeLists.txt | 35 +-
21 files changed, 140 insertions(+), 1512 deletions(-)
create mode 100644 .gitmodules
create mode 160000 cmake
delete mode 100644 doc/CMakeFiles/CMakeDirectoryInformation.cmake
delete mode 100644 doc/CMakeFiles/documentation.dir/DependInfo.cmake
delete mode 100644 doc/CMakeFiles/documentation.dir/build.make
delete mode 100644 doc/CMakeFiles/documentation.dir/cmake_clean.cmake
delete mode 100644 doc/CMakeFiles/documentation.dir/progress.make
delete mode 100644 doc/CMakeFiles/progress.marks
delete mode 100644 doc/CMakeLists.txt
create mode 100644 doc/Doxyfile.extra.in
delete mode 100644 doc/Makefile
delete mode 100644 doc/cmake_install.cmake
delete mode 100644 doc/footer.html
delete mode 100644 doc/header.html
delete mode 100644 doc/package.css
delete mode 100644 doc/package.dox
delete mode 100644 doc/package.dox.cmake
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..8d62d4a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "cmake"]
+ path = cmake
+ url = git@github.com:jrl-umi3218/jrl-cmakemodules.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5db9e56..a13f920 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,212 +1,56 @@
+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
#
-# Copyright
+# This file is part of sot-dynamic.
+# sot-dynamic 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.
#
+# sot-dynamic 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
+# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-SET(PROJECT_NAME sot-dynamic)
-project(${PROJECT_NAME})
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/lapack.cmake)
+SET(PROJECT_NAME sot-dynamic)
SET(PROJECT_VERSION 1.0.0.99)
+SET(PROJECT_DESCRIPTION "jrl-dynamics bindings for dynamic-graph.")
+SET(PROJECT_URL "")
-SET(CMAKE_VERBOSE_MAKEFILE true)
-
-enable_testing()
-
-IF(WIN32)
- SET(LIBDIR_KW "/LIBPATH:")
- SET(LIBINCL_KW "")
- SET(LIB_EXT ".lib")
-ENDIF(WIN32)
-
-IF(UNIX)
- SET(LIBDIR_KW "-L")
- SET(LIBINCL_KW "-l")
- SET(LIB_EXT "")
-ENDIF(UNIX)
-
-# -------------------------------------------------------------------
-# --- UTILS ---------------------------------------------------------
-# -------------------------------------------------------------------
-MACRO(LIST2STRING _VAR_ARG _LIST_ARG)
- SET(${_VAR_ARG})
- SET(_FIRST_STEP 1)
- FOREACH(_ITEM ${ARGV})
- IF(_FIRST_STEP)
- SET(_FIRST_STEP 0)
- ELSE(_FIRST_STEP)
- SET (${_VAR_ARG} "${${_VAR_ARG}} ${_ITEM}")
- ENDIF(_FIRST_STEP)
- ENDFOREACH(_ITEM)
-ENDMACRO(LIST2STRING)
-
-#
-# Look for dependencies
-#
-
-# Load Pkgconfig macros
-INCLUDE(FindPkgConfig)
-SET(PACKAGE_REQUIREMENTS "")
-
-#
-# Dependency to package dynamicsJRLJapan
-#
-SET(DYNAMICSJRLJAPAN_FOUND 0)
-SET(DYNAMICSJRLJAPAN_REQUIRED "dynamicsJRLJapan >= 1.16.1")
-PKG_CHECK_MODULES(DYNAMICSJRLJAPAN REQUIRED ${DYNAMICSJRLJAPAN_REQUIRED})
-EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir dynamicsJRLJapan
- OUTPUT_VARIABLE DYNAMICSJRLJAPAN_DOCDIR)
-MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
-MESSAGE(STATUS "DYNAMICSJRLJAPAN_DOCDIR=${DYNAMICSJRLJAPAN_DOCDIR}")
-SET(DYNAMICSJRLJAPAN_FOUND 1)
-
-IF(NOT ${DYNAMICSJRLJAPAN_FOUND})
- MESSAGE(FATAL_ERROR "Check that package dynamicsJRLJapan is installed in a directory pointed out by PKG_CONFIG_PATH.")
-ENDIF(NOT ${DYNAMICSJRLJAPAN_FOUND})
-
-IF(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS ${DYNAMICSJRLJAPAN_REQUIRED})
-ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMICSJRLJAPAN_REQUIRED}")
-ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
-
-# --- HRP2DYNAMICS ---------------------------------------
-SET(HRP2DYNAMICS_FOUND 0)
-SET(HRP2DYNAMICS_REQUIRED "hrp2Dynamics >= 1.3.0")
-PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
-
-IF(${HRP2DYNAMICS_FOUND})
-SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HRP2DYNAMICS_REQUIRED}")
-# MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
-MESSAGE(STATUS "h2D libs are '${HRP2DYNAMICS_LIBRARIES}'")
-ENDIF(${HRP2DYNAMICS_FOUND})
-
-# --- HRP2-10-Optimized ---------------------------------------
-SET(_hrp210optimized_FOUND 0)
-SET(_hrp210optimized_REQUIRED "hrp2-10-optimized >= 1.0")
-#PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
-PKG_CHECK_MODULES(_hrp210optimized ${_hrp210optimized_REQUIRED})
-
-IF(${_hrp210optimized_FOUND})
-SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${_hrp210optimized_REQUIRED}")
-# MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
-ENDIF(${_hrp210optimized_FOUND})
-
-# --- Robots ---------------------------------------
-
-SET(_hrp2_10_small_FOUND 0)
-SET(_hrp2_10_small_package "hrp2_10-small")
-PKG_CHECK_MODULES(_hrp2_10_small ${_hrp2_10_small_package})
-IF(NOT ${_hrp2_10_small_FOUND})
- MESSAGE(STATUS "hrp2_10_small not found.")
-ELSE(NOT ${_hrp2_10_small_FOUND})
- EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS hrp2_10-small --variable=datadir
- OUTPUT_VARIABLE HRP2_10-SMALL_DIRECTORY )
- MESSAGE(STATUS "HRP2_10-SMALL_DIRECTORY: ${HRP2_10-SMALL_DIRECTORY}")
-ENDIF(NOT ${_hrp2_10_small_FOUND})
-
-SET(_hrp2_10_small_old_FOUND 0)
-SET(_hrp2_10_small_old_package "hrp2_10-small-old")
-PKG_CHECK_MODULES(_hrp2_10_small_old ${_hrp2_10_small_old_package})
-IF(NOT ${_hrp2_10_small_old_FOUND})
- MESSAGE(STATUS "hrp2_10_small_old not found.")
-ELSE(NOT ${_hrp2_10_small_old_FOUND})
- EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS hrp2_10-small-old --variable=datadir
- OUTPUT_VARIABLE HRP2_10-SMALL-OLD_DIRECTORY )
- MESSAGE(STATUS "HRP2_10-SMALL-OLD_DIRECTORY: ${HRP2_10-SMALL-OLD_DIRECTORY}")
-ENDIF(NOT ${_hrp2_10_small_old_FOUND})
-
-
-SET(_hrp2_10_FOUND 0)
-SET(_hrp2_10_package "hrp2_10")
-PKG_CHECK_MODULES(_hrp2_10 ${_hrp2_10_package})
-IF(NOT ${_hrp2_10_FOUND})
- MESSAGE(STATUS "hrp2_10 not found.")
-ELSE(NOT ${_hrp2_10_FOUND})
- EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS hrp2_10 --variable=datadir
- OUTPUT_VARIABLE HRP2_10_DIRECTORY )
- MESSAGE(STATUS "HRP2_10_DIRECTORY: ${HRP2_10_DIRECTORY}")
-ENDIF(NOT ${_hrp2_10_FOUND})
-
-#
-# Dependency to package dynamic-graph
-#
-SET(DYNAMIC_GRAPH_FOUND 0)
-SET(DYNAMIC_GRAPH_REQUIRED "dynamic-graph >= 1.0")
-PKG_CHECK_MODULES(DYNAMIC_GRAPH REQUIRED ${DYNAMIC_GRAPH_REQUIRED})
-EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir dynamic-graph
- OUTPUT_VARIABLE DYNAMIC_GRAPH_DOCDIR)
-MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
-MESSAGE(STATUS "DYNAMIC_GRAPH_DOCDIR=${DYNAMIC_GRAPH_DOCDIR}")
-SET(DYNAMIC_GRAPH_FOUND 1)
-
-IF(NOT ${DYNAMIC_GRAPH_FOUND})
- MESSAGE(FATAL_ERROR "Check that package dynamic-graph is installed in a directory pointed out by PKG_CONFIG_PATH.")
-ENDIF(NOT ${DYNAMIC_GRAPH_FOUND})
-
-IF(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS ${DYNAMIC_GRAPH_REQUIRED})
-ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMIC_GRAPH_REQUIRED}")
-ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+# Disable -Werror on Unix for now.
+SET(CXX_DISABLE_WERROR True)
-#
-# Dependency to package sot-core
-#
-SET(SOT_CORE_FOUND 0)
-SET(SOT_CORE_REQUIRED "sot-core >= 1.0")
-PKG_CHECK_MODULES(SOT_CORE REQUIRED ${SOT_CORE_REQUIRED})
-EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir sot-core
- OUTPUT_VARIABLE SOT_CORE_DOCDIR)
-MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
-MESSAGE(STATUS "SOT_CORE_DOCDIR=${SOT_CORE_DOCDIR}")
-SET(SOT_CORE_FOUND 1)
+SET(PKG_CONFIG_ADDITIONAL_VARIABLES
+ ${PKG_CONFIG_ADDITIONAL_VARIABLES}
+ plugindirname
+ plugindir
+ )
-IF(NOT ${SOT_CORE_FOUND})
- MESSAGE(FATAL_ERROR "Check that package sot-core is installed in a directory pointed out by PKG_CONFIG_PATH.")
-ENDIF(NOT ${SOT_CORE_FOUND})
-
-IF(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS ${SOT_CORE_REQUIRED})
-ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${SOT_CORE_REQUIRED}")
-ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+SETUP_PROJECT()
+# Search for dependencies.
+ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.8.0")
-#
-# Dependency to package MatrixAbstractLayer
-#
-SET(MATRIXABSTRACTLAYER_FOUND 0)
-SET(MATRIXABSTRACTLAYER_REQUIRED "MatrixAbstractLayer >= 1.8.0")
-PKG_CHECK_MODULES(MATRIXABSTRACTLAYER REQUIRED ${MATRIXABSTRACTLAYER_REQUIRED})
-EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir MatrixAbstractLayer
- OUTPUT_VARIABLE MATRIXABSTRACTLAYER_DOCDIR)
-MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
-MESSAGE(STATUS "MATRIXABSTRACTLAYER_DOCDIR=${MATRIXABSTRACTLAYER_DOCDIR}")
-SET(MATRIXABSTRACTLAYER_FOUND 1)
+ADD_REQUIRED_DEPENDENCY("dynamicsJRLJapan >= 1.16.1")
+ADD_REQUIRED_DEPENDENCY("hrp2Dynamics >= 1.3.0")
+ADD_REQUIRED_DEPENDENCY("hrp2-10-optimized >= 1.0")
-IF(NOT ${MATRIXABSTRACTLAYER_FOUND})
- MESSAGE(FATAL_ERROR "Check that package MatrixAbstractLayer is installed in a directory pointed out by PKG_CONFIG_PATH.")
-ENDIF(NOT ${MATRIXABSTRACTLAYER_FOUND})
-
-IF(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS ${MATRIXABSTRACTLAYER_REQUIRED})
-ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
- SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${MATRIXABSTRACTLAYER_REQUIRED}")
-ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+ADD_REQUIRED_DEPENDENCY("hrp2_10")
+ADD_REQUIRED_DEPENDENCY("hrp2_10-small")
-#
-# pkg-config file
-#
+ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 1.0.0")
+ADD_REQUIRED_DEPENDENCY("sot-core >= 1.0.0")
-SET(install_pkg_prefix "\${prefix}")
-SET(install_pkg_exec_prefix "\${exec_prefix}")
-SET(install_pkg_libdir "\${libdir}")
-SET(install_pkg_datarootdir "\${datarootdir}")
-SET(install_pkg_include_dir "\${includedir}")
-# the shared libraries that will be listed in the .pc file
SET(libs
zmpreffromcom
force-compensation
@@ -218,77 +62,29 @@ SET(libs
waist-attitude-from-sensor
)
-IF(${DYNAMICSJRLJAPAN_FOUND})
- LIST(APPEND libs dynamic)
- IF(${HRP2DYNAMICS_FOUND})
- LIST(APPEND libs dynamic-hrp2)
- SET (dynamic-hrp2_plugins_dependencies dynamic)
- ENDIF(${HRP2DYNAMICS_FOUND})
-ENDIF(${DYNAMICSJRLJAPAN_FOUND})
-
-IF(${_hrp210optimized_FOUND})
- LIST(APPEND libs dynamic-hrp2_10)
- SET (dynamic-hrp2_10_plugins_dependencies dynamic)
- SET(dynamic-hrp2_10_plugins_compile_flags
- ${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
- SET(dynamic-hrp2_10_plugins_link_flags
- ${_dynamicsJRLJapan_LDFLAGS} ${_hrp210optimized_LDFLAGS})
-
- LIST(APPEND libs dynamic-hrp2_10_old)
- SET (dynamic-hrp2_10_plugins_dependencies dynamic)
- SET(dynamic-hrp2_10_old_plugins_compile_flags
- ${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
- SET(dynamic-hrp2_10_old_plugins_link_flags
- ${_dynamicsJRLJapan_LDFLAGS} ${_hrp210optimized_LDFLAGS})
-
-ENDIF(${_hrp210optimized_FOUND})
+# hrp2-14 dependencies.
+LIST(APPEND libs dynamic)
+LIST(APPEND libs dynamic-hrp2)
+SET (dynamic-hrp2_plugins_dependencies dynamic)
-# Add libs to the .pc file
-FOREACH(lib ${libs})
- SET(pc-libs "${pc-libs} ${LIBINCL_KW}${lib}${CMAKE_IMPORT_LIBRARY_SUFFIX}")
-ENDFOREACH(lib)
+# hrp2-10 dependencies.
+LIST(APPEND libs dynamic-hrp2_10)
+SET (dynamic-hrp2_10_plugins_dependencies dynamic)
+SET(dynamic-hrp2_10_plugins_compile_flags
+ ${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
+SET(dynamic-hrp2_10_plugins_link_flags
+ ${_dynamicsJRLJapan_LDFLAGS} ${_hrp210optimized_LDFLAGS})
-IF(UNIX)
- SET (${PROJECT_NAME}_LDFLAGS "-Wl,-R${install_pkg_libdir} ${pc-libs} ${${PROJECT_NAME}_LDFLAGS}")
-ENDIF(UNIX)
+LIST(APPEND libs dynamic-hrp2_10_old)
+SET (dynamic-hrp2_10_plugins_dependencies dynamic)
+SET(dynamic-hrp2_10_old_plugins_compile_flags
+ ${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
+SET(dynamic-hrp2_10_old_plugins_link_flags
+ ${_dynamicsJRLJapan_LDFLAGS} ${_hrp210optimized_LDFLAGS})
-IF(WIN32)
- SET (${PROJECT_NAME}_LDFLAGS "${pc-libs}")
-ENDIF(WIN32)
-
-# Install the file in the appropriate place.
-SET(install_libdir_pkgconfig ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
-
-CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc.cmake
- ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc)
-
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
- DESTINATION ${install_libdir_pkgconfig}
- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-
-# Uninstall target.
-CONFIGURE_FILE(
- "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
- "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
- IMMEDIATE @ONLY)
-
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- "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
-
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-ENDIF(WIN32)
-
-ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(include)
+ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(unitTesting)
-#
-# Documentation produced by doxygen
-#
-INCLUDE(FindDoxygen)
-IF(DOXYGEN_FOUND)
- add_subdirectory(doc)
-ENDIF(DOXYGEN_FOUND)
+SETUP_PROJECT_FINALIZE()
diff --git a/cmake b/cmake
new file mode 160000
index 0000000..1d7db7d
--- /dev/null
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- /home/blue/sot-lib/share/doc/MatrixAbstractLayer/html/MatrixAbstractLayer.doxytag=/home/blue/sot-lib/share/doc/MatrixAbstractLayer/html
-GENERATE_TAGFILE = sot-dynamic.doxytag
-ALLEXTERNALS = NO
-EXTERNAL_GROUPS = YES
-PERL_PATH = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
-#---------------------------------------------------------------------------
-SEARCHENGINE = NO
-
-
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME = "sot-dynamic library documentation"
-PROJECT_NUMBER = 1.0
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_ALL = YES
-EXTRACT_PRIVATE = YES
-EXTRACT_STATIC = NO
-HIDE_UNDOC_MEMBERS = YES
-HIDE_UNDOC_CLASSES = YES
-HIDE_FRIEND_COMPOUNDS = YES
-HIDE_IN_BODY_DOCS = NO
-INTERNAL_DOCS = NO
-SHOW_INCLUDE_FILES = NO
-GENERATE_TODOLIST = YES
-GENERATE_TESTLIST = NO
-GENERATE_BUGLIST = NO
-GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS =
-SHOW_USED_FILES = NO
-SHOW_DIRECTORIES = NO
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-FILE_PATTERNS = *.hh *.idl
-EXCLUDE_PATTERNS =
-INPUT = /home/blue/sot-devel/sot-dynamic/include \
- /home/blue/sot-devel/sot-dynamic/doc/additionalDoc
-
-#---------------------------------------------------------------------------
-# configuration options related to inserting images
-#---------------------------------------------------------------------------
-IMAGE_PATH = /home/blue/sot-devel/sot-dynamic/doc/figures
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-SOURCE_BROWSER = NO
-INLINE_SOURCES = NO
-STRIP_CODE_COMMENTS = YES
-REFERENCED_BY_RELATION = NO
-REFERENCES_RELATION = NO
-VERBATIM_HEADERS = NO
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-HTML_OUTPUT = html
-HTML_STYLESHEET = /home/blue/sot-devel/sot-dynamic/doc/package.css
-HTML_HEADER = /home/blue/sot-devel/sot-dynamic/doc/header.html
-HTML_FOOTER = /home/blue/sot-devel/sot-dynamic/doc/footer.html
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX = NO
-USE_PDFLATEX = YES
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-GENERATE_RTF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-GENERATE_MAN = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-GENERATE_XML = NO
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-GENERATE_PERLMOD = NO
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-CLASS_DIAGRAMS = YES
-HIDE_UNDOC_RELATIONS = YES
-HAVE_DOT = YES
-CLASS_GRAPH = NO
-COLLABORATION_GRAPH = YES
-GROUP_GRAPHS = YES
-UML_LOOK = NO
-TEMPLATE_RELATIONS = NO
-INCLUDE_GRAPH = YES
-INCLUDED_BY_GRAPH = YES
-CALL_GRAPH = NO
-GRAPHICAL_HIERARCHY = YES
-DIRECTORY_GRAPH = YES
-DOT_IMAGE_FORMAT = png
-DOT_PATH =
-DOTFILE_DIRS =
-MAX_DOT_GRAPH_DEPTH = 1000
-DOT_TRANSPARENT = NO
-DOT_MULTI_TARGETS = YES
-GENERATE_LEGEND = YES
-DOT_CLEANUP = YES
diff --git a/doc/package.dox.cmake b/doc/package.dox.cmake
deleted file mode 100644
index 182779c..0000000
--- a/doc/package.dox.cmake
+++ /dev/null
@@ -1,295 +0,0 @@
-# Doxyfile 1.4.2
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-OUTPUT_DIRECTORY = .
-CREATE_SUBDIRS = NO
-OUTPUT_LANGUAGE = English
-BRIEF_MEMBER_DESC = YES
-REPEAT_BRIEF = YES
-ABBREVIATE_BRIEF = "The $name class" \
- "The $name widget" \
- "The $name file" \
- is \
- provides \
- specifies \
- contains \
- represents \
- a \
- an \
- the
-ALWAYS_DETAILED_SEC = YES
-INLINE_INHERITED_MEMB = NO
-FULL_PATH_NAMES = NO
-STRIP_FROM_PATH =
-STRIP_FROM_INC_PATH =
-SHORT_NAMES = NO
-JAVADOC_AUTOBRIEF = YES
-MULTILINE_CPP_IS_BRIEF = NO
-DETAILS_AT_TOP = YES
-INHERIT_DOCS = YES
-DISTRIBUTE_GROUP_DOC = NO
-SEPARATE_MEMBER_PAGES = NO
-TAB_SIZE = 2
-OPTIMIZE_OUTPUT_FOR_C = NO
-OPTIMIZE_OUTPUT_JAVA = NO
-SUBGROUPING = YES
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_LOCAL_CLASSES = YES
-EXTRACT_LOCAL_METHODS = NO
-CASE_SENSE_NAMES = NO
-HIDE_SCOPE_NAMES = NO
-SHOW_INCLUDE_FILES = NO
-INLINE_INFO = YES
-SORT_MEMBER_DOCS = YES
-SORT_BRIEF_DOCS = NO
-SORT_BY_SCOPE_NAME = NO
-MAX_INITIALIZER_LINES = 30
-FILE_VERSION_FILTER =
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-QUIET = NO
-WARNINGS = YES
-WARN_IF_UNDOCUMENTED = YES
-WARN_IF_DOC_ERROR = YES
-WARN_NO_PARAMDOC = NO
-WARN_FORMAT = "$file:$line: $text"
-WARN_LOGFILE =
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-RECURSIVE = YES
-EXCLUDE =
-EXCLUDE_SYMLINKS = NO
-EXAMPLE_PATH =
-EXAMPLE_PATTERNS = *
-EXAMPLE_RECURSIVE = NO
-INPUT_FILTER =
-FILTER_PATTERNS =
-FILTER_SOURCE_FILES = NO
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-ALPHABETICAL_INDEX = NO
-COLS_IN_ALPHA_INDEX = 5
-IGNORE_PREFIX =
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-GENERATE_HTML = YES
-HTML_FILE_EXTENSION = .html
-HTML_ALIGN_MEMBERS = YES
-GENERATE_HTMLHELP = NO
-CHM_FILE =
-HHC_LOCATION =
-GENERATE_CHI = NO
-BINARY_TOC = NO
-TOC_EXPAND = YES
-DISABLE_INDEX = NO
-ENUM_VALUES_PER_LINE = 1
-GENERATE_TREEVIEW = YES
-TREEVIEW_WIDTH = 250
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-LATEX_OUTPUT = latex
-LATEX_CMD_NAME = latex
-MAKEINDEX_CMD_NAME = makeindex
-COMPACT_LATEX = NO
-PAPER_TYPE = a4wide
-EXTRA_PACKAGES =
-LATEX_HEADER =
-PDF_HYPERLINKS = NO
-USE_PDFLATEX = NO
-LATEX_BATCHMODE = NO
-LATEX_HIDE_INDICES = NO
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-RTF_OUTPUT = rtf
-COMPACT_RTF = NO
-RTF_HYPERLINKS = NO
-RTF_STYLESHEET_FILE =
-RTF_EXTENSIONS_FILE =
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-MAN_OUTPUT = man
-MAN_EXTENSION = .3
-MAN_LINKS = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-XML_OUTPUT = xml
-XML_SCHEMA =
-XML_DTD =
-XML_PROGRAMLISTING = YES
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-PERLMOD_LATEX = NO
-PERLMOD_PRETTY = YES
-PERLMOD_MAKEVAR_PREFIX =
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-ENABLE_PREPROCESSING = YES
-MACRO_EXPANSION = YES
-EXPAND_ONLY_PREDEF = YES
-SEARCH_INCLUDES = YES
-INCLUDE_PATH =
-INCLUDE_FILE_PATTERNS =
-EXPAND_AS_DEFINED =
-SKIP_FUNCTION_MACROS = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-TAGFILES = \
- ${DYNAMICSJRLJAPAN_DOCDIR}/html/dynamicsJRLJapan.doxytag=${DYNAMICSJRLJAPAN_DOCDIR}/html \
- ${HRP2DYNAMICS_DOCDIR}/html/hrp2Dynamics.doxytag=${HRP2DYNAMICS_DOCDIR}/html \
- ${DYNAMIC_GRAPH_DOCDIR}/html/dynamic-graph.doxytag=${DYNAMIC_GRAPH_DOCDIR}/html \
- ${SOT_CORE_DOCDIR}/html/sot-core.doxytag=${SOT_CORE_DOCDIR}/html \
- ${MATRIXABSTRACTLAYER_DOCDIR}/html/MatrixAbstractLayer.doxytag=${MATRIXABSTRACTLAYER_DOCDIR}/html
-GENERATE_TAGFILE = sot-dynamic.doxytag
-ALLEXTERNALS = NO
-EXTERNAL_GROUPS = YES
-PERL_PATH = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
-#---------------------------------------------------------------------------
-SEARCHENGINE = NO
-
-
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME = "${PROJECT_NAME} library documentation"
-PROJECT_NUMBER = ${PROJECT_VERSION}
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_ALL = YES
-EXTRACT_PRIVATE = YES
-EXTRACT_STATIC = NO
-HIDE_UNDOC_MEMBERS = YES
-HIDE_UNDOC_CLASSES = YES
-HIDE_FRIEND_COMPOUNDS = YES
-HIDE_IN_BODY_DOCS = NO
-INTERNAL_DOCS = NO
-SHOW_INCLUDE_FILES = NO
-GENERATE_TODOLIST = YES
-GENERATE_TESTLIST = NO
-GENERATE_BUGLIST = NO
-GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS =
-SHOW_USED_FILES = NO
-SHOW_DIRECTORIES = NO
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-FILE_PATTERNS = *.h *.hh *.idl
-EXCLUDE_PATTERNS =
-INPUT = ${${PROJECT_NAME}_SOURCE_DIR}/include \
- ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
-
-#---------------------------------------------------------------------------
-# configuration options related to inserting images
-#---------------------------------------------------------------------------
-IMAGE_PATH = ${${PROJECT_NAME}_SOURCE_DIR}/doc/figures
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-SOURCE_BROWSER = NO
-INLINE_SOURCES = NO
-STRIP_CODE_COMMENTS = YES
-REFERENCED_BY_RELATION = NO
-REFERENCES_RELATION = NO
-VERBATIM_HEADERS = NO
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-HTML_OUTPUT = html
-HTML_STYLESHEET = ${CMAKE_CURRENT_SOURCE_DIR}/package.css
-HTML_HEADER = ${CMAKE_CURRENT_SOURCE_DIR}/header.html
-HTML_FOOTER = ${CMAKE_CURRENT_SOURCE_DIR}/footer.html
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX = NO
-USE_PDFLATEX = YES
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-GENERATE_RTF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-GENERATE_MAN = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-GENERATE_XML = NO
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-GENERATE_PERLMOD = NO
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-CLASS_DIAGRAMS = YES
-HIDE_UNDOC_RELATIONS = YES
-HAVE_DOT = YES
-CLASS_GRAPH = NO
-COLLABORATION_GRAPH = YES
-GROUP_GRAPHS = YES
-UML_LOOK = NO
-TEMPLATE_RELATIONS = NO
-INCLUDE_GRAPH = YES
-INCLUDED_BY_GRAPH = YES
-CALL_GRAPH = NO
-GRAPHICAL_HIERARCHY = YES
-DIRECTORY_GRAPH = YES
-DOT_IMAGE_FORMAT = png
-DOT_PATH =
-DOTFILE_DIRS =
-MAX_DOT_GRAPH_DEPTH = 1000
-DOT_TRANSPARENT = NO
-DOT_MULTI_TARGETS = YES
-GENERATE_LEGEND = YES
-DOT_CLEANUP = YES
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index b683713..e832116 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,6 +1,17 @@
-#
-# Copyright
-#
+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+#
+# This file is part of sot-dynamic.
+# sot-dynamic 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.
+#
+# sot-dynamic 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
+# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
SET(${PROJECT_NAME}_HEADERS
dynamic.h
@@ -23,7 +34,7 @@ SET(${PROJECT_NAME}_HEADERS
SET(fullpath_${PROJECT_NAME}_HEADERS)
FOREACH(lHeader ${${PROJECT_NAME}_HEADERS})
- SET(fullpath_${PROJECT_NAME}_HEADERS
+ SET(fullpath_${PROJECT_NAME}_HEADERS
${fullpath_${PROJECT_NAME}_HEADERS}
./${PROJECT_NAME}/${lHeader}
)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e273727..e1d92f6 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,6 +1,17 @@
-#
-# Copyright
-#
+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+#
+# This file is part of sot-dynamic.
+# sot-dynamic 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.
+#
+# sot-dynamic 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
+# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
@@ -13,20 +24,20 @@ LINK_DIRECTORIES(${DYNAMICSJRLJAPAN_LIBRARY_DIRS})
LINK_DIRECTORIES(${HRP2DYNAMICS_LIBRARY_DIRS})
LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
LINK_DIRECTORIES(${SOT_CORE_LIBRARY_DIRS})
-LINK_DIRECTORIES(${MATRIXABSTRACTLAYER_LIBRARY_DIRS})
+LINK_DIRECTORIES(${JRL_MAL_LIBRARY_DIRS})
# Add compilation flags
ADD_DEFINITIONS(${DYNAMICSJRLJAPAN_CFLAGS})
ADD_DEFINITIONS(${HRP2DYNAMICS_CFLAGS})
ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
ADD_DEFINITIONS(${SOT_CORE_CFLAGS})
-ADD_DEFINITIONS(${MATRIXABSTRACTLAYER_CFLAGS})
+ADD_DEFINITIONS(${JRL_MAL_CFLAGS})
-foreach(dlink ${DYNAMICSJRLJAPAN_LDFLAGS}
- ${HRP2DYNAMICS_LDFLAGS}
- ${DYNAMIC_GRAPH_LDFLAGS}
- ${SOT_CORE_LDFLAGS}
- ${MATRIXABSTRACTLAYER_LDFLAGS}
+foreach(dlink ${DYNAMICSJRLJAPAN_LDFLAGS}
+ ${HRP2DYNAMICS_LDFLAGS}
+ ${DYNAMIC_GRAPH_LDFLAGS}
+ ${SOT_CORE_LDFLAGS}
+ ${JRL_MAL_LDFLAGS}
)
SET ( ${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS} ${dlink}")
endforeach(dlink)
@@ -54,13 +65,13 @@ IF(${_hrp210optimized_FOUND})
LIST(APPEND libs dynamic-hrp2_10)
SET (dynamic-hrp2_10_additional_libs ${_hrp210optimized_LIBRARIES})
SET (dynamic-hrp2_10_plugins_dependencies dynamic)
- SET(dynamic-hrp2_10_plugins_compile_flags
+ SET(dynamic-hrp2_10_plugins_compile_flags
${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
LIST(APPEND libs dynamic-hrp2_10_old)
SET (dynamic-hrp2_10_old_additional_libs ${_hrp210optimized_LIBRARIES})
SET (dynamic-hrp2_10_old_plugins_dependencies dynamic)
- SET(dynamic-hrp2_10_old_plugins_compile_flags
+ SET(dynamic-hrp2_10_old_plugins_compile_flags
${_dynamicsJRLJapan_CFLAGS} ${_hrp210optimized_CFLAGS})
ENDIF(${_hrp210optimized_FOUND})
@@ -77,38 +88,36 @@ FOREACH(lib ${libs})
ADD_LIBRARY(${lib}
SHARED
${lib}.cpp)
-
- SET_TARGET_PROPERTIES(${lib}
- PROPERTIES
+
+ SET_TARGET_PROPERTIES(${lib}
+ PROPERTIES
SOVERSION ${PROJECT_VERSION}
PREFIX ""
INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib/plugin)
-
- IF (UNIX)
+
+ IF (UNIX)
TARGET_LINK_LIBRARIES(${lib} ${DYNAMIC_GRAPH_LIBRARIES})
TARGET_LINK_LIBRARIES(${lib} ${SOT_CORE_LIBRARIES})
- TARGET_LINK_LIBRARIES(${lib} ${MATRIXABSTRACTLAYER_LIBRARIES})
+ TARGET_LINK_LIBRARIES(${lib} ${JRL_MAL_LIBRARIES})
TARGET_LINK_LIBRARIES(${lib} ${HRP2DYNAMICS_LIBRARIES})
TARGET_LINK_LIBRARIES(${lib} ${DYNAMICSJRLJAPAN_LIBRARIES})
TARGET_LINK_LIBRARIES(${lib} "${${lib}_additional_libs}")
ENDIF(UNIX)
-
+
IF(WIN32)
SET(${lib}_plugins_link_flags "${${PROJECT_NAME}_src_LDFLAGS} ${${lib}_plugins_link_flags}")
ENDIF(WIN32)
-
+
SET_TARGET_PROPERTIES(${lib}
PROPERTIES
COMPILE_FLAGS "${${lib}_plugins_compile_flags}"
LINK_FLAGS "${${lib}_plugins_link_flags}")
-
+
IF(${lib}_plugins_dependencies)
ADD_DEPENDENCIES(${lib} "${${lib}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${lib} "${${lib}_plugins_dependencies}")
ENDIF(${lib}_plugins_dependencies)
-
+
INSTALL(TARGETS ${lib}
DESTINATION lib/plugin)
ENDFOREACH(lib)
-
-
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index c476a72..d7310ba 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -1,6 +1,17 @@
-#
-# Copyright
-#
+# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+#
+# This file is part of sot-dynamic.
+# sot-dynamic is free software: you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public License
+# as published by the Free Software Foundation, either version 3 of
+# the License, or (at your option) any later version.
+#
+# sot-dynamic is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
ADD_DEFINITIONS(-DDEBUG=2)
@@ -15,10 +26,10 @@ INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/src)
# Add MatrixAbstractLayer compilation flags and link to library libMatrixAbstractLayer.so
-ADD_DEFINITIONS(${MATRIXABSTRACTLAYER_CFLAGS})
+ADD_DEFINITIONS(${JRL_MAL_CFLAGS})
IF(WIN32)
-foreach(dlink ${MATRIXABSTRACTLAYER_LDFLAGS} ${DYNAMICSJRLJAPAN_LDFLAGS}
+foreach(dlink ${JRL_MAL_LDFLAGS} ${DYNAMICSJRLJAPAN_LDFLAGS}
${HRP2DYNAMICS_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS})
SET ( ${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS} ${dlink}")
endforeach(dlink)
@@ -34,7 +45,7 @@ FOREACH(test ${tests})
SET(EXECUTABLE_NAME "${test}_exe")
ADD_EXECUTABLE(${EXECUTABLE_NAME}
${test}.cpp)
-
+
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
zmpreffromcom
force-compensation
@@ -45,11 +56,11 @@ FOREACH(test ${tests})
angle-estimator
waist-attitude-from-sensor
)
-
- IF (UNIX)
+
+ IF (UNIX)
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMIC_GRAPH_LIBRARIES})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${SOT_CORE_LIBRARIES})
- TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${MATRIXABSTRACTLAYER_LIBRARIES})
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${JRL_MAL_LIBRARIES})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${HRP2DYNAMICS_LIBRARIES})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMICSJRLJAPAN_LIBRARIES})
ENDIF(UNIX)
@@ -60,13 +71,13 @@ FOREACH(test ${tests})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} dynamic-hrp2)
ENDIF(${_hrp2Dynamics_FOUND})
ENDIF(${DYNAMICSJRLJAPAN_FOUND})
-
+
IF(WIN32)
SET_TARGET_PROPERTIES(${EXECUTABLE_NAME}
PROPERTIES
LINK_FLAGS "${${PROJECT_NAME}_src_LDFLAGS}"
)
ENDIF(WIN32)
-
+
ADD_TEST(${test} ${EXECUTABLE_NAME})
-ENDFOREACH(test)
\ No newline at end of file
+ENDFOREACH(test)
--
GitLab