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Including Eigen as a private dependency in all targets using EigenHelpers #62

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May 14, 2020
Merged

Including Eigen as a private dependency in all targets using EigenHelpers #62

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11 changes: 7 additions & 4 deletions cmake/WalkingControllersFindDependencies.cmake
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Expand Up @@ -131,6 +131,9 @@ checkandset_dependency(ICUBcontrib)
find_package(iDynTree QUIET)
checkandset_dependency(iDynTree)

find_package(Eigen3 3.2.92 QUIET)
checkandset_dependency(Eigen3)

find_package(UnicyclePlanner 0.1.102 QUIET)
checkandset_dependency(UnicyclePlanner)

Expand All @@ -148,18 +151,18 @@ checkandset_dependency(Catch2)

walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_tests "Compile tests?" ON WALKING_CONTROLLERS_HAS_Catch2 OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_YarpUtilities "Compile YarpHelper library?" ON WALKING_CONTROLLERS_HAS_YARP OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities "Compile iDynTreeHelper library?" ON "WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_HAS_YARP" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities "Compile iDynTreeHelper library?" ON "WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_HAS_YARP;WALKING_CONTROLLERS_HAS_Eigen3" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_SimplifiedModelControllers "Compile SimplifiedModelControllers library?" ON
"WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities;WALKING_CONTROLLERS_HAS_osqp;WALKING_CONTROLLERS_HAS_OsqpEigen" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_RobotInterface "Compile RobotHelper library?" ON "WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_WholeBodyControllers "Compile WholeBodyControllers library?" ON
"WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities;WALKING_CONTROLLERS_HAS_osqp;WALKING_CONTROLLERS_HAS_OsqpEigen;WALKING_CONTROLLERS_HAS_qpOASES;WALKING_CONTROLLERS_HAS_ICUB" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_TrajectoryPlanner "Compile TrajectoryPlanner library?" ON
"WALKING_CONTROLLERS_HAS_Threads;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB;WALKING_CONTROLLERS_HAS_UnicyclePlanner" OFF)
"WALKING_CONTROLLERS_HAS_Threads;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB;WALKING_CONTROLLERS_HAS_UnicyclePlanner;WALKING_CONTROLLERS_HAS_Eigen3" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_KinDynWrapper "Compile KinDynWrapper library?" ON
"WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB" OFF)
"WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB;WALKING_CONTROLLERS_HAS_Eigen3" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_RetargetingHelper "Compile RetargetingHelper library?" ON
"WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB" OFF)
"WALKING_CONTROLLERS_HAS_iDynTree;WALKING_CONTROLLERS_COMPILE_YarpUtilities;WALKING_CONTROLLERS_HAS_ICUB;WALKING_CONTROLLERS_HAS_Eigen3" OFF)
walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_LoggerClient "Compile LoggerClient library?" ON WALKING_CONTROLLERS_COMPILE_YarpUtilities OFF)

walking_controllers_dependent_option(WALKING_CONTROLLERS_COMPILE_WalkingModule "Compile WalkingModule app?" ON
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3 changes: 2 additions & 1 deletion src/KinDynWrapper/CMakeLists.txt
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Expand Up @@ -25,7 +25,8 @@ if(WALKING_CONTROLLERS_COMPILE_KinDynWrapper)
target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC
WalkingControllers::YarpUtilities
${iDynTree_LIBRARIES}
ctrlLib)
ctrlLib
PRIVATE Eigen3::Eigen)

add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})

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3 changes: 2 additions & 1 deletion src/RetargetingHelper/CMakeLists.txt
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Expand Up @@ -25,7 +25,8 @@ if(WALKING_CONTROLLERS_COMPILE_RetargetingHelper)
target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC
WalkingControllers::YarpUtilities
${iDynTree_LIBRARIES}
ctrlLib)
ctrlLib
PRIVATE Eigen3::Eigen)

add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})

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3 changes: 2 additions & 1 deletion src/RobotInterface/CMakeLists.txt
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Expand Up @@ -27,7 +27,8 @@ if(WALKING_CONTROLLERS_COMPILE_RobotInterface)

target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC
WalkingControllers::YarpUtilities
WalkingControllers::iDynTreeUtilities)
WalkingControllers::iDynTreeUtilities
PRIVATE Eigen3::Eigen)

add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})

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3 changes: 2 additions & 1 deletion src/TrajectoryPlanner/CMakeLists.txt
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Expand Up @@ -29,7 +29,8 @@ if(WALKING_CONTROLLERS_COMPILE_TrajectoryPlanner)
Threads::Threads
WalkingControllers::YarpUtilities
UnicyclePlanner
ctrlLib)
ctrlLib
PRIVATE Eigen3::Eigen)

add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})

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3 changes: 2 additions & 1 deletion src/iDynTreeUtilities/CMakeLists.txt
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Expand Up @@ -20,7 +20,8 @@ if(WALKING_CONTROLLERS_COMPILE_iDynTreeUtilities)
# add an executable to the project using the specified source files.
add_library(${LIBRARY_TARGET_NAME} SHARED ${${LIBRARY_TARGET_NAME}_SRC} ${${LIBRARY_TARGET_NAME}_HDR})

target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC ${iDynTree_LIBRARIES} YARP::YARP_OS)
target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC ${iDynTree_LIBRARIES} YARP::YARP_OS
PRIVATE Eigen3::Eigen)

add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})
set_target_properties(${LIBRARY_TARGET_NAME} PROPERTIES OUTPUT_NAME "${PROJECT_NAME}${LIBRARY_TARGET_NAME}")
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