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Merge pull request #120 from personalrobotics/feature/vandercorput_me…
…rge_master Merge master into VanDerCorput Sequence (#37)
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@@ -29,3 +29,6 @@ build/ | |
| *.exe | ||
| *.out | ||
| *.app | ||
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| # Temp files | ||
| *~ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,250 @@ | ||
| # CMake 2.8.12 or above is required for CMakeParseArguments. | ||
| # CMake 2.8.11 or above is required for target_include_directories. | ||
| cmake_minimum_required(VERSION 2.8.12) | ||
| project(aikido) | ||
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| list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake") | ||
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| #============================================================================== | ||
| # Configuration Options | ||
| # | ||
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| set(INCLUDE_INSTALL_DIR "include") | ||
| set(LIBRARY_INSTALL_DIR "lib") | ||
| set(CONFIG_INSTALL_DIR "${LIBRARY_INSTALL_DIR}/${PROJECT_NAME}/cmake") | ||
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| option(COVERALLS "Enable coveralls support" OFF) | ||
| option(COVERALLS_UPLOAD "Upload coveralls JSON output" ON) | ||
| option(DOWNLOAD_TAGFILES "Download Doxygen tagfiles for dependencies" OFF) | ||
|
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| #============================================================================== | ||
| # Coveralls Setup | ||
| # | ||
| define_property(GLOBAL PROPERTY COVERALLS_SOURCES | ||
| BRIEF_DOCS "Source files that Coveralls evaluates for test coverage." | ||
| FULL_DOCS "Source files that Coveralls evaluates for test coverage." | ||
| ) | ||
|
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| function(coveralls_add_sources) | ||
| foreach(source ${ARGN}) | ||
| get_filename_component(source_abs | ||
| "${CMAKE_CURRENT_LIST_DIR}/${source}" ABSOLUTE) | ||
| if(EXISTS "${source_abs}") | ||
| set_property(GLOBAL APPEND PROPERTY COVERALLS_SOURCES "${source_abs}") | ||
| else() | ||
| message(FATAL_ERROR | ||
| "Source file '${source}' does not exist at absolute path" | ||
| " '${source_abs}'. This should never happen. Did you recently delete" | ||
| " this file or modify 'CMAKE_CURRENT_LIST_DIR'") | ||
| endif() | ||
| endforeach() | ||
| endfunction() | ||
|
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| if(COVERALLS) | ||
| include(Coveralls) | ||
| coveralls_turn_on_coverage() | ||
| endif() | ||
|
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| #============================================================================== | ||
| # Helper functions. | ||
| # | ||
| function(evaluate_condition output_variable) | ||
| if(${ARGN}) | ||
| set("${output_variable}" TRUE PARENT_SCOPE) | ||
| else() | ||
| set("${output_variable}" FALSE PARENT_SCOPE) | ||
| endif() | ||
| endfunction() | ||
|
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| function(aikido_space_delimit output_variable input_list) | ||
| set(accumulator) | ||
| foreach(input_element ${input_list}) | ||
| set(accumulator "${accumulator} ${input_element}") | ||
| endforeach() | ||
|
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| set("${output_variable}" "${accumulator}" PARENT_SCOPE) | ||
| endfunction() | ||
|
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| macro(aikido_check_package variable component dependency) | ||
| if(${${variable}_FOUND}) | ||
| message(STATUS "Looking for ${dependency} - version ${${variable}_VERSION}" | ||
| " found") | ||
| else() | ||
| message(STATUS "Looking for ${dependency} - NOT found, to use" | ||
| " ${component}, please install ${dependency}") | ||
| return() | ||
| endif() | ||
| endmacro() | ||
|
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| #============================================================================== | ||
| # Register an Aikido test. | ||
| # | ||
| set_property(GLOBAL PROPERTY AIKIDO_TESTS) | ||
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| function(aikido_add_test target_name) | ||
| add_executable("${target_name}" ${ARGN}) | ||
| add_test("${target_name}" "${target_name}") | ||
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| target_link_libraries("${target_name}" gtest gtest_main) | ||
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| set_property(GLOBAL APPEND PROPERTY AIKIDO_TESTS "${target_name}") | ||
| endfunction() | ||
|
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| #============================================================================== | ||
| # Required Dependencies | ||
| # | ||
| include(Components) | ||
| initialize_component_helpers(aikido) | ||
| include(CMakePackageConfigHelpers) | ||
| include(FindPkgConfig) | ||
|
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| find_package(Boost COMPONENTS filesystem) | ||
| include_directories(${Boost_INCLUDE_DIRS}) | ||
|
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| # TODO: utils-urdf should only be required for aikido::perception. | ||
| find_package(DART 6.1.0 REQUIRED COMPONENTS optimizer-nlopt utils-urdf CONFIG) | ||
| include_directories(${DART_INCLUDE_DIRS}) | ||
|
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| #============================================================================== | ||
| # Libraries and unit tests. | ||
| # | ||
| # TODO: Add this to each target's DEFINITIONS property. | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") | ||
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| include_directories("include") | ||
|
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| add_subdirectory("src") | ||
|
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| enable_testing() | ||
| add_subdirectory("tests" EXCLUDE_FROM_ALL) | ||
|
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| # Targets to mimic a Catkin package. "tests" builds tests and "test" (or | ||
| # "run_tests") runs them. | ||
| get_property(all_tests GLOBAL PROPERTY AIKIDO_TESTS) | ||
| add_custom_target(tests DEPENDS ${all_tests}) | ||
| add_custom_target(run_tests COMMAND "${CMAKE_CTEST_COMMAND}") | ||
|
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| #============================================================================== | ||
| # Doxygen. | ||
| # | ||
| find_package(Doxygen QUIET) | ||
|
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| if(${DOXYGEN_FOUND}) | ||
| message(STATUS "Looking for Doxygen - version ${DOXYGEN_VERSION} found") | ||
|
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| set(DOXYGEN_INPUT_ROOT | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include") | ||
| set(DOXYGEN_OUTPUT_ROOT "${CMAKE_CURRENT_BINARY_DIR}/doxygen") | ||
| set(DOXYGEN_GENERATE_TAGFILE "${DOXYGEN_OUTPUT_ROOT}/aikido.tag") | ||
| set(DOXYGEN_HTML_INDEX "${DOXYGEN_OUTPUT_ROOT}/index.html") | ||
| set(DOXYGEN_WORKING_DIR "${CMAKE_CURRENT_BINARY_DIR}/doxygen_working") | ||
| set(DOXYGEN_EXCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/src/external") | ||
|
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| # Strip include_directories() being used by CMake from #include paths. | ||
| # TODO: Add per-target INCLUDE_DIRECTORIES properties to this list. | ||
| get_property(DOXYGEN_STRIP_FROM_INC_PATH_LIST | ||
| DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" | ||
| PROPERTY INCLUDE_DIRECTORIES) | ||
| aikido_space_delimit(DOXYGEN_STRIP_FROM_INC_PATH | ||
| "${DOXYGEN_STRIP_FROM_INC_PATH_LIST}") | ||
|
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| # Optionally download Doxygen tagfiles for dependencies. | ||
| set(DOXYGEN_TAGFILES "") | ||
| if(DOWNLOAD_TAGFILES) | ||
| set(tagfile_url "http://dartsim.github.io/dart/dart.tag") | ||
| message(STATUS "Downloading DART Doxygen tagfile from: ${tagfile_url}") | ||
| file(DOWNLOAD "${tagfile_url}" "${DOXYGEN_WORKING_DIR}/dart.tag") | ||
| set(DOXYGEN_TAGFILES | ||
| "${DOXYGEN_TAGFILES} dart.tag=http://dartsim.github.io/dart/") | ||
|
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| is_component(needs_ompl aikido planner_ompl) | ||
| if(needs_ompl) | ||
| set(tagfile_url "http://ompl.kavrakilab.org/core/ompl.tag") | ||
| message(STATUS "Downloading OMPL Doxygen tagfile from: ${tagfile_url}") | ||
| file(DOWNLOAD "${tagfile_url}" "${DOXYGEN_WORKING_DIR}/ompl.tag") | ||
| set(DOXYGEN_TAGFILES | ||
| "${DOXYGEN_TAGFILES} ompl.tag=http://ompl.kavrakilab.org/") | ||
| endif() | ||
| endif() | ||
|
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||
| # Generate a Doxyfile. This uses the variables: | ||
| # | ||
| # - DOXYGEN_EXCLUDE | ||
| # - DOXYGEN_EXTRA_INPUTS | ||
| # - DOXYGEN_GENERATE_TAGFILE | ||
| # - DOXYGEN_INPUT_ROOT | ||
| # - DOXYGEN_OUTPUT_ROOT | ||
| # - DOXYGEN_STRIP_FROM_INC_PATH | ||
| # - DOXYGEN_TAGFILES | ||
| configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/Doxyfile.in" | ||
| "${DOXYGEN_WORKING_DIR}/Doxyfile" @ONLY) | ||
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| # Create the "docs" target that runs Doxygen. | ||
| add_custom_command(OUTPUT "${DOXYGEN_HTML_INDEX}" | ||
| COMMAND "${DOXYGEN_EXECUTABLE}" | ||
| DEPENDS "${DOXYGEN_WORKING_DIR}/Doxyfile" | ||
| WORKING_DIRECTORY "${DOXYGEN_WORKING_DIR}") | ||
|
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| add_custom_target(docs | ||
| DEPENDS "${DOXYGEN_HTML_INDEX}" | ||
| COMMENT "Generating documentation.") | ||
|
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| # Create the "view_docs" target that opens the documentation. | ||
| if(APPLE) | ||
| set(open_command "open") | ||
| else() | ||
| set(open_command "xdg-open") | ||
| endif() | ||
|
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| add_custom_target(view_docs "${open_command}" "${DOXYGEN_HTML_INDEX}" | ||
| DEPENDS "${DOXYGEN_HTML_INDEX}" | ||
| COMMENT "Opening documentation in a web browser.") | ||
| else() | ||
| message(STATUS "Looking for Doxygen - NOT found, to generate API" | ||
| " documentation, please install Doxygen") | ||
| endif() | ||
|
|
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| #============================================================================== | ||
| # Coveralls. | ||
| # | ||
| if(COVERALLS) | ||
| get_property(sources GLOBAL PROPERTY COVERALLS_SOURCES) | ||
|
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| list(LENGTH sources sources_length) | ||
| message(STATUS "Running Coveralls on ${sources_length} source files.") | ||
|
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| coveralls_setup("${sources}" ${COVERALLS_UPLOAD} | ||
| "${PROJECT_SOURCE_DIR}/cmake") | ||
| endif() | ||
|
|
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| #============================================================================== | ||
| # Installation. | ||
| # | ||
| install(DIRECTORY "include/" | ||
| DESTINATION "${INCLUDE_INSTALL_DIR}") | ||
|
|
||
| # Install the package.xml file (to satisfy REP-136). | ||
| install(FILES "package.xml" | ||
| DESTINATION "share/${PROJECT_NAME}") | ||
|
|
||
| # Generate and install CMake configuration files for each component <C>: | ||
| # - <C>Component.cmake, which defines: | ||
| # - aikido_<C>_DEPENDENCIES: list of component dependencies | ||
| # - aikido_<C>_LIBRARIES: list of library targets in this component | ||
| # - <C>Targets.cmake, which creates IMPORTED targets | ||
| install_component_exports(aikido) | ||
|
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| # Generate and install a Config.cmake file. This file includes the | ||
| # <C>Component.cmake and <C>Targets.cmake created above. It also uses the | ||
| # following variables: | ||
| # | ||
| # - PACKAGE_INCLUDE_INSTALL_DIR | ||
| # - PACKAGE_INCLUDE_DIRS | ||
| get_property(PACKAGE_INCLUDE_DIRS GLOBAL | ||
| PROPERTY "${PROJECT_NAME}_INCLUDE_DIRS") | ||
| configure_package_config_file("cmake/${PROJECT_NAME}Config.cmake.in" | ||
| "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" | ||
| INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}" | ||
| PATH_VARS INCLUDE_INSTALL_DIR) | ||
| install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" | ||
| DESTINATION "${CONFIG_INSTALL_DIR}") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,24 +1,27 @@ | ||
| Copyright (c) 2014, Pras Velagapudi | ||
| Copyright (c) 2016 Carnegie Mellon University | ||
| All rights reserved. | ||
|
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||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
|
|
||
| * Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
| 1. Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
|
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||
| * Redistributions in binary form must reproduce the above copyright notice, | ||
| this list of conditions and the following disclaimer in the documentation | ||
| and/or other materials provided with the distribution. | ||
| 2. Redistributions in binary form must reproduce the above copyright notice, | ||
| this list of conditions and the following disclaimer in the documentation | ||
| and/or other materials provided with the distribution. | ||
|
|
||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 3. Neither the name of the copyright holder nor the names of its contributors | ||
| may be used to endorse or promote products derived from this software without | ||
| specific prior written permission. | ||
|
|
||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | ||
| ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
|
|
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