# Copyright 2010, Nicolas Mansard, LAAS-CNRS
#
# This file is part of sot-dyninv.
# sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
INCLUDE(cmake/python.cmake)

SET(PROJECT_NAMESPACE stack-of-tasks)
SET(PROJECT_NAME sot-dyninv)
SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")

SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
SET(DOXYGEN_USE_MATHJAX YES)

# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)

SET(PKG_CONFIG_ADDITIONAL_VARIABLES
  ${PKG_CONFIG_ADDITIONAL_VARIABLES}
  plugindirname
  plugindir
  )

OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)

SETUP_PROJECT()

# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("soth >= 0.0.1")
SEARCH_FOR_EIGEN()

# List plug-ins that will be compiled.
SET(libs
	dynamic-integrator
	zmp-estimator
	pseudo-robot-dynamic
	robot-dyn-simu

	controller-pd
	task-dyn-pd
	task-dyn-joint-limits
	task-dyn-limits
	task-dyn-inequality
	task-dyn-passing-point
	solver-op-space
	solver-dyn-reduced

	solver-kine
	task-joint-limits
	task-inequality
	task-weight
	feature-projected-line

	contact-selecter
  )

LIST(APPEND LOGGING_WATCHED_TARGETS ${libs})

SET(headers
	commands-helper.h
	entity-helper.h
	signal-helper.h

	dynamic-integrator.h
	zmp-estimator.h
	pseudo-robot-dynamic.h
	robot-dyn-simu.h

	stack-template.h
	stack-template.t.cpp

	controller-pd.h
	task-dyn-pd.h
	task-dyn-joint-limits.h
	task-dyn-limits.h
	task-dyn-inequality.h
	task-dyn-passing-point.h
	solver-op-space.h
	solver-dyn-reduced.h

	task-joint-limits.h
	task-inequality.h
	task-weight.h
	solver-kine.h
	feature-projected-line.h

	col-piv-qr-solve-in-place.h

	contact-selecter.h

)

list(APPEND task-dyn-limits_plugins_dependencies task-dyn-pd)
list(APPEND task-dyn-inequality_plugins_dependencies task-dyn-pd)
list(APPEND task-dyn-joint-limits_plugins_dependencies task-dyn-pd)
list(APPEND task-dyn-passing-point_plugins_dependencies task-dyn-pd)
list(APPEND pseudo-robot-dynamic_plugins_dependencies dynamic-integrator)
list(APPEND contact-selecter_plugins_dependencies solver-dyn-reduced)

foreach(lib task-weight task-inequality task-dyn-pd task-joint-limits)
	IF(WIN32)
		list(APPEND ${lib}_ext_plugins_dependencies
			${DYNAMIC_GRAPH_PLUGINDIR}/task${CMAKE_LINK_LIBRARY_SUFFIX})
	ELSE(WIN32)
		list(APPEND ${lib}_ext_plugins_dependencies
			${DYNAMIC_GRAPH_PLUGINDIR}/task${CMAKE_SHARED_LIBRARY_SUFFIX})
	ENDIF(WIN32)
endforeach(lib)

foreach(lib solver-op-space solver-dyn-reduced solver-dyn-red2)
	list(APPEND ${lib}_plugins_dependencies task-dyn-pd)

	IF(WIN32)
		list(APPEND ${lib}_ext_plugins_dependencies
			${DYNAMIC_GRAPH_PLUGINDIR}/feature-point6d${CMAKE_LINK_LIBRARY_SUFFIX})
	ELSE(WIN32)
		list(APPEND ${lib}_ext_plugins_dependencies
			${DYNAMIC_GRAPH_PLUGINDIR}/feature-point6d${CMAKE_SHARED_LIBRARY_SUFFIX})
	ENDIF(WIN32)
endforeach(lib)

IF(BUILD_PYTHON_INTERFACE)
  FINDPYTHON()
  FIND_NUMPY()
  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
ENDIF(BUILD_PYTHON_INTERFACE)

# Add subdirectories.
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(python)
ADD_SUBDIRECTORY(unitTesting)

SETUP_PROJECT_FINALIZE()