[CMake] clean: keep minimal required instructions

CMakeLists.txt

@@ -5,48 +5,81 @@
 
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
-SET(PROJECT_NAMESPACE stack-of-tasks)
-SET(PROJECT_NAME sot-tools)
-SET(PROJECT_DESCRIPTION "Miscellanous entities for the stack of tasks")
-SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
-
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
-OPTION(SUFFIX_SO_VERSION "Suffix shared library name by a string depending on git status of project" ON)
-
+# Project properties
 SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME sot-tools)
 SET(PROJECT_DESCRIPTION "Miscellanous entities for the stack of tasks")
-SET(PROJECT_URL "http://github.com/stack-of-tasks/sot-tools")
-
-# Export CMake Target
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-
-# Disable -Werror on Unix for now.
-SET(CXX_DISABLE_WERROR True)
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/python.cmake)
-INCLUDE(cmake/eigen.cmake)
+# Project options
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 
-SET(DOXYGEN_USE_MATHJAX YES)
+# Project configuration
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+SET(CXX_DISABLE_WERROR TRUE)
+SET(DOXYGEN_USE_MATHJAX YES)
 
+# JRL-cmakemodule setup
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/python.cmake)
+
+# Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-
-# Trigger dependency to dynamic-graph-python
-ADD_PROJECT_DEPENDENCY(sot-core 4.8.1 REQUIRED PKG_CONFIG_REQUIRES "sot-core >= 4.8.1")
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)
 
 IF(BUILD_PYTHON_INTERFACE)
-  FINDPYTHON ()
-  FIND_NUMPY ()
-  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED PKG_CONFIG_REQUIRES "dynamic-graph-python")
+  FINDPYTHON()
+  FIND_NUMPY()
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
+    PKG_CONFIG_REQUIRES dynamic-graph-python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-ADD_SUBDIRECTORY(include/sot/tools)
+# Main Library
+SET(${PROJECT_NAME}_HEADERS
+  include/sot/tools/cubic-interpolation.hh
+  include/sot/tools/cubic-interpolation-se3.hh
+  include/sot/tools/kinematic-planner.hh
+  include/sot/tools/seqplay.hh
+  include/sot/tools/simpleseqplay.hh
+  )
+
+SET(${PROJECT_NAME}_SOURCES
+  src/cubic-interpolation.cc
+  #src/kinematic-planner.cc
+  src/cubic-interpolation-se3.cc
+  src/oscillator.cc
+  src/seqplay.cc
+  src/simpleseqplay.cc
+  )
+
+# Verbosity level
+IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
+ENDIF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+
+ADD_LIBRARY(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} sot-core::sot-core)
+
+IF(SUFFIX_SO_VERSION)
+  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+ENDIF(SUFFIX_SO_VERSION)
+
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
 ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(tests)
+
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

cmake @ 321eb1cc

-Subproject commit fc83d96bdc3d456f965a8f2f14154f55833021a1
+Subproject commit 321eb1ccf1d94570eb564f3659b13ef3ef82239e

include/sot/tools/CMakeLists.txt

-SET(${PROJECT_NAME}_HEADERS
-  cubic-interpolation.hh
-  cubic-interpolation-se3.hh
-  kinematic-planner.hh
-  seqplay.hh
-  simpleseqplay.hh)
-
-INSTALL(FILES ${${PROJECT_NAME}_HEADERS} DESTINATION include/sot/core)

src/CMakeLists.txt

 
-# Copyright 2012, CNRS
+# Copyright 2012, 2020, CNRS
 # Author: Florent Lamiraux
+# Author: Guilhem Saurel
 #
 
-SET(LIBRARY_NAME ${PROJECT_NAME})
-
-ADD_LIBRARY(${LIBRARY_NAME} SHARED
-  cubic-interpolation.cc
-  #kinematic-planner.cc
-  cubic-interpolation-se3.cc
-  oscillator.cc
-  seqplay.cc
-  simpleseqplay.cc
-  )
-
-TARGET_LINK_LIBRARIES (${LIBRARY_NAME} sot-core::sot-core)
-DYNAMIC_GRAPH_PYTHON_MODULE ("sot/tools" ${LIBRARY_NAME} wrap)
-
-SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
-
-INSTALL (TARGETS ${LIBRARY_NAME}
-  EXPORT ${TARGETS_EXPORT_NAME}
-  DESTINATION ${CMAKE_INSTALL_LIBDIR})
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES
-    SOVERSION ${PROJECT_VERSION})
-ENDIF()
-
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
 IF(BUILD_PYTHON_INTERFACE)
-  DYNAMIC_GRAPH_PYTHON_MODULE("sot/tools" ${LIBRARY_NAME} wrap)
-  INSTALL(FILES
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/tools/se3.py
-    ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/tools/quaternion.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/tools
+  SET(NO_INSTALL_OF_INIT_PY 0)
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/tools" ${PROJECT_NAME} wrap
+    ${NO_INSTALL_OF_INIT_PY})
+
+  SET(${PROJECT_NAME}_PYTHON
+    __init__.py
+    se3.py
+    quaternion.py
     )
+
+  FOREACH(py_file ${${PY_NAME}_PYTHON})
+    PYTHON_INSTALL_ON_SITE("dynamic_graph/sot/toolss" ${py_file})
+  ENDFOREACH(py_file ${${PY_NAME}_PYTHON})
+
 ENDIF(BUILD_PYTHON_INTERFACE)

tests/CMakeLists.txt

-
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/src)
-
 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
-ADD_EXECUTABLE(test_simpleseqplay test_simpleseqplay.cc)
-TARGET_LINK_LIBRARIES(test_simpleseqplay sot-core::sot-core)
-TARGET_LINK_LIBRARIES(test_simpleseqplay sot-tools)
-TARGET_LINK_LIBRARIES(test_simpleseqplay
-  ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARIES})
-ADD_TEST(test_simpleseqplay test_simpleseqplay)
+ADD_UNIT_TEST(test_simpleseqplay test_simpleseqplay.cc)
+TARGET_LINK_LIBRARIES(test_simpleseqplay ${PROJECT_NAME} ${Boost_LIBRARIES}
+  sot-core::sot-core)

tests/test_simpleseqplay.cc

@@ -5,26 +5,21 @@
 #include "simpleseqplay.hh"
 
 namespace dg = dynamicgraph;
-BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
-BOOST_AUTO_TEST_CASE(test_simpleseqplay)
-{
+BOOST_AUTO_TEST_CASE(test_simpleseqplay) {
   dg::sot::tools::SimpleSeqPlay aSimpleSeqPlay("simpleseqplay");
 
   aSimpleSeqPlay.load("test");
   aSimpleSeqPlay.start();
-  for(int i=0;i<1000;i++)
-    {
-      dg::Vector pos;
-      
-      pos = aSimpleSeqPlay.postureSOUT_(i);
-      if (i==100)
-	aSimpleSeqPlay.hold();
+  for (int i = 0; i < 1000; i++) {
+    dg::Vector pos;
 
-      if (i==300)
-	aSimpleSeqPlay.unhold();
-    }
- 
+    pos = aSimpleSeqPlay.postureSOUT_(i);
+    if (i == 100) aSimpleSeqPlay.hold();
+
+    if (i == 300) aSimpleSeqPlay.unhold();
+  }
 }
 
-BOOST_AUTO_TEST_SUITE_END ()
+BOOST_AUTO_TEST_SUITE_END()