Merge pull request #4 from bcoudrin/master

Separate dynamic plugin and dynamic lib

CMakeLists.txt

@@ -48,7 +48,7 @@ ADD_REQUIRED_DEPENDENCY("sot-core >= 2.5")
 ADD_REQUIRED_DEPENDENCY("sot-tools")
 
 # List plug-ins that will be compiled.
-SET(libs
+SET(plugins
   zmpreffromcom
   force-compensation
   integrator-force-exact
@@ -60,14 +60,14 @@ SET(libs
   zmp-from-forces
   )
 
-LIST(APPEND libs dynamic)
+SET(LIBRARY_NAME ${PROJECT_NAME})
+LIST(APPEND plugins dynamic)
 
 
-LIST(APPEND LOGGING_WATCHED_TARGETS ${libs})
+LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
 
 # Add dependency toward sot-dynamic library in pkg-config file.
-PKG_CONFIG_APPEND_LIBS_RAW(${DYNAMIC_GRAPH_PLUGINDIR}/dynamic.so)
-PKG_CONFIG_APPEND_LIBRARY_DIR(${DYNAMIC_GRAPH_PLUGINDIR})
+PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
 
 # Search for dependencies.
 # Boost

src/CMakeLists.txt

@@ -30,7 +30,7 @@ SET(integrator-force-rk4_plugins_dependencies integrator-force)
 SET(integrator-force-exact_plugins_dependencies integrator-force)
 
 
-FOREACH(lib ${libs})
+FOREACH(lib ${plugins})
   ADD_LIBRARY(${lib} SHARED ${lib}.cpp)
 
   SET_TARGET_PROPERTIES(${lib} PROPERTIES
@@ -60,6 +60,19 @@ FOREACH(lib ${libs})
     )
 ENDFOREACH(lib)
 
+# Main Library
+ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic.cpp)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} jrl-dynamics)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
+
+INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+TARGET_LINK_LIBRARIES(dynamic ${LIBRARY_NAME})
+
 # Install empty __init__.py files in intermediate directories.
 INSTALL(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py

unitTesting/CMakeLists.txt

@@ -50,6 +50,7 @@ FOREACH(test ${tests})
     integrator-force
     angle-estimator
     waist-attitude-from-sensor
+    ${LIBRARY_NAME}
     )
 
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-dynamics)