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CMakeLists.txt
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CMakeLists.txt
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#
# Copyright (c) 2015-2023 CNRS INRIA
# Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
#
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
# Create header-only target All other target will depend on it.
add_library(${PROJECT_NAME}_headers INTERFACE)
# On CMake 3.16, we can't target_sources(${PROJECT_NAME}_headers INTERFACE
# ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS})
# Enforce the preprocessed version of boost::list and boost::vector This information is redundant
# with the content of include/pinocchio/container/boost-container-limits.hpp but it avoids any
# compilation issue.
target_compile_definitions(${PROJECT_NAME}_headers INTERFACE BOOST_MPL_LIMIT_LIST_SIZE=30
BOOST_MPL_LIMIT_VECTOR_SIZE=30)
if(INITIALIZE_WITH_NAN)
target_compile_definitions(${PROJECT_NAME}_headers INTERFACE EIGEN_INITIALIZE_MATRICES_BY_NAN)
endif()
if(CHECK_RUNTIME_MALLOC)
target_compile_definitions(${PROJECT_NAME}_headers INTERFACE PINOCCHIO_EIGEN_CHECK_MALLOC
EIGEN_RUNTIME_NO_MALLOC)
endif(CHECK_RUNTIME_MALLOC)
modernize_target_link_libraries(
${PROJECT_NAME}_headers
SCOPE INTERFACE
TARGETS Eigen3::Eigen
INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
modernize_target_link_libraries(
${PROJECT_NAME}_headers
SCOPE INTERFACE
TARGETS Boost::boost Boost::serialization
LIBRARIES ${Boost_SERIALIZATION_LIBRARY}
INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
target_include_directories(${PROJECT_NAME}_headers INTERFACE $<INSTALL_INTERFACE:include>)
cxx_flags_by_compiler_frontend(
MSVC "/bigobj"
OUTPUT PUBLIC_OPTIONS
FILTER)
target_compile_options(${PROJECT_NAME}_headers INTERFACE ${PUBLIC_OPTIONS})
cxx_flags_by_compiler_frontend(MSVC "NOMINMAX" OUTPUT PUBLIC_DEFINITIONS)
target_compile_definitions(${PROJECT_NAME}_headers INTERFACE ${PUBLIC_DEFINITIONS})
install(
TARGETS ${PROJECT_NAME}_headers
EXPORT ${TARGETS_EXPORT_NAME}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
# Define a compiled target This functions take sources and scalar type to use
function(PINOCCHIO_TARGET target_name)
set(options INTERFACE)
set(oneValueArgs SCALAR LIBRARY_PUBLIC_SCOPE)
set(multiValueArgs SOURCES)
cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
set(LIB_NAME "${target_name}")
# Manage different scope type if building an interface or shared library
set(LIBRARY_TYPE SHARED)
set(LIBRARY_PUBLIC_SCOPE PUBLIC)
if(ARGS_INTERFACE)
set(LIBRARY_TYPE INTERFACE)
set(LIBRARY_PUBLIC_SCOPE INTERFACE)
endif()
# Export PUBLIC scope to caller
if(ARGS_LIBRARY_PUBLIC_SCOPE)
set(${ARGS_LIBRARY_PUBLIC_SCOPE}
${LIBRARY_PUBLIC_SCOPE}
PARENT_SCOPE)
endif()
add_library(${LIB_NAME} ${LIBRARY_TYPE})
target_link_libraries(${LIB_NAME} ${LIBRARY_PUBLIC_SCOPE} ${PROJECT_NAME}_headers)
# On CMake 3.16 we can't call target_sources or set_target_properties with LINKER_LANGUAGE,
# INSTALL_RPATH and VERSION on an INTERFACE target.
if(NOT ARGS_INTERFACE)
target_sources(${LIB_NAME} PRIVATE ${ARGS_SOURCES})
set_target_properties(
${LIB_NAME}
PROPERTIES LINKER_LANGUAGE CXX
INSTALL_RPATH "\$ORIGIN"
VERSION ${PROJECT_VERSION})
endif()
if(ENABLE_TEMPLATE_INSTANTIATION AND NOT ARGS_INTERFACE)
set(PINOCCHIO_CONTEXT_FILE_VALUE "pinocchio/context/${ARGS_SCALAR}.hpp")
target_compile_definitions(
${LIB_NAME}
PUBLIC PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
PRIVATE PINOCCHIO_CONTEXT_FILE="${PINOCCHIO_CONTEXT_FILE_VALUE}")
endif()
target_include_directories(${LIB_NAME} ${LIBRARY_PUBLIC_SCOPE} $<INSTALL_INTERFACE:include>)
if(BUILD_WITH_COMMIT_VERSION)
tag_library_version(${LIB_NAME})
endif()
install(
TARGETS ${LIB_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
endfunction()
# Define a template instantiation target
function(PINOCCHIO_SPECIFIC_TYPE scalar_name scope)
set(LIB_NAME "${PROJECT_NAME}_${scalar_name}")
if(ENABLE_TEMPLATE_INSTANTIATION)
pinocchio_target(
${LIB_NAME}
SCALAR ${scalar_name}
SOURCES ${${PROJECT_NAME}_CORE_SOURCES}
LIBRARY_PUBLIC_SCOPE PUBLIC_SCOPE)
# By default DEFINE_SYMBOL add -D${LIB_NAME}_EXPORTS. Don't use ${LIB_NAME}_EXPORTS define since
# pinocchio/config.hpp use pinocchio_EXPORTS. This allow to use the same DLLAPI define for all
# template instantiation libraries.
set_target_properties(${LIB_NAME} PROPERTIES DEFINE_SYMBOL "${PROJECT_NAME}_EXPORTS")
set(${scope}
${PUBLIC_SCOPE}
PARENT_SCOPE)
else()
pinocchio_target(
${LIB_NAME}
SCALAR ${scalar_name}
SOURCES ${${PROJECT_NAME}_CORE_SOURCES}
LIBRARY_PUBLIC_SCOPE PUBLIC_SCOPE
INTERFACE)
set(${scope}
${PUBLIC_SCOPE}
PARENT_SCOPE)
endif()
endfunction()
function(PINOCCHIO_CONFIG directory lib_name)
string(TOUPPER ${lib_name} upper_lib_name)
generate_configuration_header_v2(
INCLUDE_DIR
${PROJECT_BINARY_DIR}/include
HEADER_DIR
pinocchio/${directory}
FILENAME
config.hpp
LIBRARY_NAME
${upper_lib_name}
EXPORT_SYMBOL
${lib_name}_EXPORTS)
endfunction()
add_source_group(${PROJECT_NAME}_CORE_SOURCES)
add_source_group(${PROJECT_NAME}_PARSERS_SOURCES)
add_source_group(${PROJECT_NAME}_EXTRA_SOURCES)
add_header_group(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
add_header_group(${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS)
add_header_group(${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS)
add_header_group(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS)
add_header_group(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS)
# Define the default target (double).
#
# This target will also have hpp-fcl and workspace module in it.
pinocchio_specific_type(default DEFAULT_SCOPE)
# Define the extra target This target hold extra algorithms.
if(BUILD_WITH_EXTRA_SUPPORT)
set(EXTRA_LIB_NAME "${PROJECT_NAME}_extra")
pinocchio_target(
${EXTRA_LIB_NAME}
SCALAR default
SOURCES ${${PROJECT_NAME}_EXTRA_SOURCES} ${${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS})
pinocchio_config(extra ${EXTRA_LIB_NAME})
target_link_libraries(${EXTRA_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Qhull::qhullcpp
Qhull::qhull_r)
target_compile_definitions(${EXTRA_LIB_NAME} PUBLIC PINOCCHIO_WITH_EXTRA_SUPPORT)
endif()
# Define the parallel target.
if(BUILD_WITH_OPENMP_SUPPORT)
set(PARALLEL_LIB_NAME "${PROJECT_NAME}_parallel")
pinocchio_target(
${PARALLEL_LIB_NAME}
SCALAR default
SOURCES ${${PROJECT_NAME}_PARALLEL_PUBLIC_HEADERS}
INTERFACE)
target_link_libraries(${PARALLEL_LIB_NAME} INTERFACE ${PROJECT_NAME}_default OpenMP::OpenMP_CXX)
endif()
# Define the collision target.
if(BUILD_WITH_HPP_FCL_SUPPORT)
set(COLLISION_LIB_NAME "${PROJECT_NAME}_collision")
pinocchio_target(
${COLLISION_LIB_NAME}
SCALAR default
SOURCES ${${PROJECT_NAME}_COLLISION_SOURCES} ${${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS})
pinocchio_config(collision ${COLLISION_LIB_NAME})
target_compile_definitions(${COLLISION_LIB_NAME} PUBLIC PINOCCHIO_WITH_HPP_FCL)
target_link_libraries(${COLLISION_LIB_NAME} PUBLIC ${PROJECT_NAME}_default hpp-fcl::hpp-fcl)
# Define the collision parallel target
if(BUILD_WITH_OPENMP_SUPPORT)
set(COLLISION_PARALLEL_LIB_NAME "${PROJECT_NAME}_collision_parallel")
pinocchio_target(
${COLLISION_PARALLEL_LIB_NAME}
SCALAR default
SOURCES ${${PROJECT_NAME}_COLLISION_PARALLEL_PUBLIC_HEADERS}
INTERFACE)
target_link_libraries(${COLLISION_PARALLEL_LIB_NAME} INTERFACE ${COLLISION_LIB_NAME}
OpenMP::OpenMP_CXX)
endif()
endif()
# Define the parsers target.
#
# This target will have common tools for parsing/managing files and URDF/SRDF/SDF format support.
if(BUILD_WITH_PARSERS_SUPPORT)
set(PARSERS_LIB_NAME "${PROJECT_NAME}_parsers")
pinocchio_target(
${PARSERS_LIB_NAME}
SCALAR default
SOURCES ${${PROJECT_NAME}_PARSERS_SOURCES} ${${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS})
pinocchio_config(parsers ${PARSERS_LIB_NAME})
target_link_libraries(${PARSERS_LIB_NAME} PUBLIC ${PROJECT_NAME}_default)
if(BUILD_WITH_HPP_FCL_SUPPORT)
target_link_libraries(${PARSERS_LIB_NAME} PUBLIC ${PROJECT_NAME}_collision)
endif()
modernize_target_link_libraries(
${PARSERS_LIB_NAME}
SCOPE PUBLIC
TARGETS Boost::filesystem
LIBRARIES ${Boost_FILESYSTEM_LIBRARY}}
INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
# Special care of urdfdom version
if(BUILD_WITH_URDF_SUPPORT)
target_compile_definitions(${PARSERS_LIB_NAME} PUBLIC PINOCCHIO_WITH_URDFDOM)
if(${urdfdom_VERSION} VERSION_LESS "0.3.0")
target_compile_definitions(${PARSERS_LIB_NAME}
PRIVATE PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
endif()
# defines types from version 0.4.0
if(NOT ${urdfdom_VERSION} VERSION_LESS "0.4.0")
target_compile_definitions(${PARSERS_LIB_NAME} PRIVATE PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR)
endif()
# std::shared_ptr appears from version 1.0.0
if(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
target_compile_definitions(${PARSERS_LIB_NAME} PRIVATE PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
endif()
modernize_target_link_libraries(
${PARSERS_LIB_NAME}
SCOPE PUBLIC
TARGETS urdfdom::urdf_parser
LIBRARIES ${urdfdom_LIBRARIES}
INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
endif()
if(BUILD_WITH_SDF_SUPPORT)
target_compile_definitions(${PARSERS_LIB_NAME} PUBLIC PINOCCHIO_WITH_SDFORMAT)
target_link_libraries(${PARSERS_LIB_NAME} PUBLIC ${SDFormat_LIBRARIES})
endif()
endif()
# Define cppad codegen target.
if(BUILD_WITH_CODEGEN_SUPPORT)
pinocchio_specific_type(cppadcg CPPADCG_SCOPE)
# CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
# This can happen when Pinocchio is build in Debug mode using another library using cppad.
target_compile_definitions(${PROJECT_NAME}_cppadcg PUBLIC CPPAD_DEBUG_AND_RELEASE)
target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} ${cppadcg_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME}_cppadcg ${CPPADCG_SCOPE} ${cppadcg_LIBRARY}
${cppad_LIBRARY})
endif()
# Define cppad target.
if(BUILD_WITH_AUTODIFF_SUPPORT)
pinocchio_specific_type(cppad CPPAD_SCOPE)
# CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
# This can happen when Pinocchio is build in Debug mode using another library using cppad.
target_compile_definitions(${PROJECT_NAME}_cppad PUBLIC CPPAD_DEBUG_AND_RELEASE)
target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} ${cppad_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME}_cppad ${CPPAD_SCOPE} ${cppad_LIBRARY})
endif()
# Define casadi target.
if(BUILD_WITH_CASADI_SUPPORT)
pinocchio_specific_type(casadi CASADI_SCOPE)
target_link_libraries(${PROJECT_NAME}_casadi ${CASADI_SCOPE} casadi)
endif()
# Define main target (default, parsers, extra).
add_library(${PROJECT_NAME} INTERFACE)
if(ENABLE_TEMPLATE_INSTANTIATION)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_default)
endif()
if(BUILD_WITH_PARSERS_SUPPORT)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_parsers)
endif()
if(BUILD_WITH_OPENMP_SUPPORT)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_parallel)
endif()
if(BUILD_WITH_HPP_FCL_SUPPORT)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_collision)
if(BUILD_WITH_OPENMP_SUPPORT)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_collision_parallel)
endif()
endif()
if(BUILD_WITH_EXTRA_SUPPORT)
target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_extra)
endif()
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})