packaging: install package.xml & check examples as unit-tests

CMakeLists.txt

@@ -46,7 +46,7 @@ EXPORT_BOOST_DEFAULT_OPTIONS()
 
 IF(BUILD_WITH_CPPAD_CODEGEN_BINDINGS)
   ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
-  ADD_DEFINITIONS(-DPYCPPAD_WITH_CPPAD_CODEGEN_BINDINGS) 
+  ADD_DEFINITIONS(-DPYCPPAD_WITH_CPPAD_CODEGEN_BINDINGS)
 ENDIF(BUILD_WITH_CPPAD_CODEGEN_BINDINGS)
 
 ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
@@ -89,18 +89,18 @@ ENDIF(SUFFIX_SO_VERSION)
 TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME} PUBLIC)
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${cppad_LIBRARY} eigenpy::eigenpy)
 IF(BUILD_WITH_CPPAD_CODEGEN_BINDINGS)
-  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} 
+  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}
     SYSTEM PUBLIC
     ${cppadcg_INCLUDE_DIR}
   )
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS})
 ENDIF(BUILD_WITH_CPPAD_CODEGEN_BINDINGS)
 
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} 
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}
   SYSTEM PUBLIC
   ${Boost_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
-  ${PYTHON_INCLUDE_DIRS} 
+  ${PYTHON_INCLUDE_DIRS}
   $<INSTALL_INTERFACE:include>)
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
 
@@ -116,7 +116,11 @@ ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
 ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
 
 ADD_SUBDIRECTORY(python)
+ADD_SUBDIRECTORY(example)
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
 PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_COMPONENTS})
+
+# Install catkin package.xml
+INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

example/CMakeLists.txt

@@ -0,0 +1,2 @@
+ADD_PYTHON_UNIT_TEST("add_eq" "example/add_eq.py" "python")
+ADD_PYTHON_UNIT_TEST("cppad_type" "example/cppad_type.py" "python")

example/add_eq.py

@@ -3,48 +3,51 @@
 from pycppad import AD, Independent, ADFun, Value
 import numpy as np
 
-
 # domain space vector
-n = 1;
+n = 1
 x0 = 0.5
 
-x = np.array([AD(x0),]*n)
+x = np.array([AD(x0)] * n)
 
 # declare independent variables and start tape recording
 Independent(x)
 
 # range space vector
-m = 2;
-y = np.zeros((m,),dtype=AD)
-y[0] = x[0];         # initial value
-y[0] += AD(2);           # AD<double> += int
-y[0] += AD(4.);          # AD<double> += double
+m = 2
+y = np.zeros(m, dtype=AD)
+y[0] = x[0]
+# initial value
+y[0] += AD(2)
+# AD<double> += int
+y[0] += AD(4.)
+# AD<double> += double
 y[0] += x[0]
-y[1] = y[0]; # use the result of a compound assignment
+y[1] = y[0]
+# use the result of a compound assignment
 
 # create f: x -> y and stop tape recording
-f = ADFun(x,y);
-input("raw_input")
+f = ADFun(x, y)
+# input("raw_input")
 
-#f.optimize("no_compare_op")
+# f.optimize("no_compare_op")
 
-assert(Value(y[0]) == x0+2.+4.+x0)
-assert(Value(y[1]) == Value(y[0]))
+assert Value(y[0]) == x0 + 2. + 4. + x0
+assert Value(y[1]) == Value(y[0])
 
 dx = np.zeros(n)
 dy = np.zeros(m)
 
 dx[0] = 1.
-dy = f.Forward(1 ,dx)
-assert(dy[0] == 2.)
-assert(dy[1] == 2.)
+dy = f.Forward(1, dx)
+assert dy[0] == 2.
+assert dy[1] == 2.
 
 # reverse computation of derivative of y[0]
-w = np.zeros((m,))
-dw = np.zeros((n),)
+w = np.zeros(m)
+dw = np.zeros(n)
 
 w[0] = 1.
 w[1] = 0.
 dw = f.Reverse(1, w)
 
-assert(dw[0] == 2.)
+assert dw[0] == 2.

python/CMakeLists.txt

@@ -3,7 +3,7 @@
 #
 
 # --- LIBRARY --- #
-SET(PYWRAP ${PROJECT_NAME}_pywrap) 
+SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/python/${PROJECT_NAME}")
@@ -27,16 +27,20 @@ ELSE()
 ENDIF()
 
 SET_TARGET_PROPERTIES(${PYWRAP}
-  PROPERTIES 
+  PROPERTIES
   PREFIX ""
   SUFFIX ${PYTHON_EXT_SUFFIX}
   OUTPUT_NAME "${PROJECT_NAME}"
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/${PROJECT_NAME}"
   )
 
+IF(UNIX AND NOT APPLE)
+  SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES INSTALL_RPATH "\$ORIGIN/../../..")
+ENDIF()
+
 INSTALL(TARGETS ${PYWRAP} DESTINATION ${${PYWRAP}_INSTALL_DIR})
 
-# --- INSTALL SCRIPTS 
+# --- INSTALL SCRIPTS
 SET(PYTHON_FILES
   __init__.py
   )
@@ -47,4 +51,3 @@ FOREACH(python ${PYTHON_FILES})
     "${CMAKE_CURRENT_SOURCE_DIR}/pycppad/${python}"
     DESTINATION ${${PYWRAP}_INSTALL_DIR})
 ENDFOREACH(python)
-