From a6a78ab72dbbf30598e6ac38515f2d479e152e14 Mon Sep 17 00:00:00 2001 From: Alexis DUBURCQ Date: Tue, 25 Jul 2023 19:30:54 +0000 Subject: [PATCH] [misc] Remove Cpp standard limitation for dependencies. --- build_tools/build_install_deps_unix.sh | 18 +++++++++--------- build_tools/build_install_deps_windows.ps1 | 18 +++++++++--------- build_tools/patch_deps_unix/pinocchio.patch | 16 ++-------------- build_tools/patch_deps_windows/pinocchio.patch | 18 +++--------------- 4 files changed, 23 insertions(+), 47 deletions(-) diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh index 09eac83f44..edcf9d6ef5 100755 --- a/build_tools/build_install_deps_unix.sh +++ b/build_tools/build_install_deps_unix.sh @@ -245,7 +245,7 @@ mkdir -p "$RootDir/boost/build" mkdir -p "$RootDir/eigen3/build" cd "$RootDir/eigen3/build" -cmake "$RootDir/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ +cmake "$RootDir/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=ON make install -j2 @@ -254,7 +254,7 @@ make install -j2 mkdir -p "$RootDir/eigenpy/build" cd "$RootDir/eigenpy/build" cmake "$RootDir/eigenpy" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ @@ -272,7 +272,7 @@ make install -j2 mkdir -p "$RootDir/tinyxml/build" cd "$RootDir/tinyxml/build" cmake "$RootDir/tinyxml" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \ @@ -286,7 +286,7 @@ make install -j2 mkdir -p "$RootDir/console_bridge/build" cd "$RootDir/console_bridge/build" cmake "$RootDir/console_bridge" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \ @@ -306,7 +306,7 @@ make install -j2 mkdir -p "$RootDir/urdfdom/build" cd "$RootDir/urdfdom/build" cmake "$RootDir/urdfdom" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \ @@ -319,7 +319,7 @@ make install -j2 mkdir -p "$RootDir/assimp/build" cd "$RootDir/assimp/build" cmake "$RootDir/assimp" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \ @@ -335,7 +335,7 @@ make install -j2 mkdir -p "$RootDir/hpp-fcl/third-parties/qhull/build" cd "$RootDir/hpp-fcl/third-parties/qhull/build" cmake "$RootDir/hpp-fcl/third-parties/qhull" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \ @@ -346,7 +346,7 @@ make install -j2 mkdir -p "$RootDir/hpp-fcl/build" cd "$RootDir/hpp-fcl/build" cmake "$RootDir/hpp-fcl" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ @@ -368,7 +368,7 @@ make install -j2 mkdir -p "$RootDir/pinocchio/build" cd "$RootDir/pinocchio/build" cmake "$RootDir/pinocchio" \ - -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ + -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \ -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \ -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1 index e25ba96ba4..f4c4b0439f 100644 --- a/build_tools/build_install_deps_windows.ps1 +++ b/build_tools/build_install_deps_windows.ps1 @@ -226,7 +226,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigen3/build")) { } Set-Location -Path "$RootDir/eigen3/build" cmake "$RootDir/eigen3" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=OFF cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 @@ -239,7 +239,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy/build")) { Set-Location -Path "$RootDir/eigenpy/build" cmake "$RootDir/eigenpy" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" ` -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" ` -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DGENERATE_PYTHON_STUBS=OFF ` @@ -256,7 +256,7 @@ if (-not (Test-Path -PathType Container "$RootDir/tinyxml/build")) { Set-Location -Path "$RootDir/tinyxml/build" cmake "$RootDir/tinyxml" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DTIXML_USE_STL" cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 @@ -269,7 +269,7 @@ if (-not (Test-Path -PathType Container "$RootDir/console_bridge/build")) { Set-Location -Path "$RootDir/console_bridge/build" cmake "$RootDir/console_bridge" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 @@ -293,7 +293,7 @@ if (-not (Test-Path -PathType Container "$RootDir/urdfdom/build")) { Set-Location -Path "$RootDir/urdfdom/build" cmake "$RootDir/urdfdom" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DBUILD_TESTING=OFF ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DBUILD_TESTING=OFF ` -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DURDFDOM_STATIC" cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 @@ -306,7 +306,7 @@ if (-not (Test-Path -PathType Container "$RootDir/assimp/build")) { Set-Location -Path "$RootDir/assimp/build" cmake "$RootDir/assimp" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF ` -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF -DASSIMP_INSTALL_PDB=OFF ` -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} /wd4005" ` @@ -321,7 +321,7 @@ cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 # any existing flag if any. Set-Location -Path "$RootDir/hpp-fcl/third-parties/qhull/build" cmake "$RootDir/hpp-fcl/third-parties/qhull" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" ` -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON ` -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_C_FLAGS="${CMAKE_CXX_FLAGS}" cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2 @@ -333,7 +333,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl/build")) { Set-Location -Path "$RootDir/hpp-fcl/build" cmake "$RootDir/hpp-fcl" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" ` -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" ` -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE ` @@ -352,7 +352,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio/build")) { Set-Location -Path "$RootDir/pinocchio/build" cmake "$RootDir/pinocchio" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$:Debug>DLL" ` - -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` + -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" ` -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" ` -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DGENERATE_PYTHON_STUBS=OFF ` diff --git a/build_tools/patch_deps_unix/pinocchio.patch b/build_tools/patch_deps_unix/pinocchio.patch index e93dc43d1b..d4a27707fe 100644 --- a/build_tools/patch_deps_unix/pinocchio.patch +++ b/build_tools/patch_deps_unix/pinocchio.patch @@ -1,19 +1,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -120,11 +120,6 @@ - ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM) - LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM") - -- IF(${urdfdom_VERSION} VERSION_GREATER "0.4.2") -- SET(CMAKE_CXX_STANDARD 11) -- SET(CMAKE_CXX_STANDARD_REQUIRED ON) -- MESSAGE(STATUS "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard.") -- ENDIF(${urdfdom_VERSION} VERSION_GREATER "0.4.2") - ENDIF(BUILD_WITH_URDF_SUPPORT) - - IF(BUILD_WITH_AUTODIFF_SUPPORT) -@@ -148,7 +143,6 @@ +@@ -148,7 +148,6 @@ SET_BOOST_DEFAULT_OPTIONS() EXPORT_BOOST_DEFAULT_OPTIONS() @@ -21,7 +9,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt IF(BUILD_PYTHON_INTERFACE) MESSAGE(STATUS "The Python bindings of Pinocchio will be compiled along the main library. If you want to disable this feature, please set the option BUILD_PYTHON_INTERFACE to OFF.") -@@ -176,19 +170,19 @@ +@@ -176,19 +171,19 @@ ELSE(BUILD_PYTHON_INTERFACE) MESSAGE(STATUS "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON.") ENDIF(BUILD_PYTHON_INTERFACE) diff --git a/build_tools/patch_deps_windows/pinocchio.patch b/build_tools/patch_deps_windows/pinocchio.patch index f4fdd498af..8aad4fc363 100644 --- a/build_tools/patch_deps_windows/pinocchio.patch +++ b/build_tools/patch_deps_windows/pinocchio.patch @@ -1,19 +1,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -120,11 +120,6 @@ - ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM) - LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM") - -- IF(${urdfdom_VERSION} VERSION_GREATER "0.4.2") -- SET(CMAKE_CXX_STANDARD 11) -- SET(CMAKE_CXX_STANDARD_REQUIRED ON) -- MESSAGE(STATUS "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard.") -- ENDIF(${urdfdom_VERSION} VERSION_GREATER "0.4.2") - ENDIF(BUILD_WITH_URDF_SUPPORT) - - IF(BUILD_WITH_AUTODIFF_SUPPORT) -@@ -148,7 +143,6 @@ +@@ -148,7 +148,6 @@ SET_BOOST_DEFAULT_OPTIONS() EXPORT_BOOST_DEFAULT_OPTIONS() @@ -21,7 +9,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt IF(BUILD_PYTHON_INTERFACE) MESSAGE(STATUS "The Python bindings of Pinocchio will be compiled along the main library. If you want to disable this feature, please set the option BUILD_PYTHON_INTERFACE to OFF.") -@@ -157,6 +153,9 @@ +@@ -157,6 +156,9 @@ IF(BUILD_WITH_LIBPYTHON) set(PYTHON_COMPONENTS ${PYTHON_COMPONENTS} Development) ENDIF() @@ -31,7 +19,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt ADD_PROJECT_DEPENDENCY(eigenpy 2.7.10 REQUIRED) -@@ -176,19 +173,19 @@ +@@ -176,19 +178,19 @@ ELSE(BUILD_PYTHON_INTERFACE) MESSAGE(STATUS "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON.") ENDIF(BUILD_PYTHON_INTERFACE)