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CMakeLists.txt
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CMakeLists.txt
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#
# Copyright (C) 2014 Walkman
# Author: Mirko Ferrati, Enrico Mingo, Alessio Rocchi, Luca Muratore
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>
#
cmake_minimum_required(VERSION 2.8.12)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 OLD)
cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0017 NEW)
endif(COMMAND cmake_policy)
include(ExternalProject)
PROJECT(GYM)
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
#list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
# find first YCM in order to have ${YCM_MODULE_PATH} defined for 3rd party software like Eigen3
find_package(YCM REQUIRED)
FIND_PACKAGE(YARP REQUIRED)
FIND_PACKAGE(paramHelp REQUIRED)
FIND_PACKAGE(Boost 1.54.0 COMPONENTS system thread)
# to avoid header not found when using idynutils
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(include ${YARP_INCLUDE_DIRS} ${paramHelp_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}
${trajectory_utils_INCLUDE_DIRS})
# for every file in INCLUDES CMake already sets the property HEADER_FILE_ONLY
file(GLOB_RECURSE GYM_INCLUDES "${CMAKE_CURRENT_SOURCE_DIR}/include/GYM" *.h*)
ADD_LIBRARY(GYM SHARED src/yarp_status_interface.cpp
${GYM_INCLUDES})
TARGET_LINK_LIBRARIES(GYM ${YARP_LIBRARIES}
${paramHelp_LIBRARIES}
${Boost_LIBRARIES}
${trajectory_utils_LIBRARIES}
)
########################################################################
# use YCM to export GYM so that it can be found using find_package #
########################################################################
set(VARS_PREFIX "GYM")
set(GYM_MAJOR_VERSION 0)
set(GYM_MINOR_VERSION 0)
set(GYM_PATCH_VERSION 1)
set(GYM_VERSION ${GYM_MAJOR_VERSION}.${GYM_MINOR_VERSION}.${GYM_PATCH_VERSION})
find_package(YCM REQUIRED)
include(YCMDefaultDirs)
ycm_default_dirs(${VARS_PREFIX})
target_include_directories(GYM PUBLIC "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>"
"$<INSTALL_INTERFACE:${${VARS_PREFIX}_INSTALL_INCLUDEDIR}>")
set_target_properties(GYM PROPERTIES VERSION ${${VARS_PREFIX}_VERSION}
SOVERSION ${${VARS_PREFIX}_VERSION})
install(DIRECTORY include/
DESTINATION "${${VARS_PREFIX}_INSTALL_INCLUDEDIR}"
FILES_MATCHING PATTERN "*.h*")
install(TARGETS GYM
EXPORT GYM
ARCHIVE DESTINATION "${${VARS_PREFIX}_INSTALL_BINDIR}" COMPONENT lib
RUNTIME DESTINATION "${${VARS_PREFIX}_INSTALL_BINDIR}" COMPONENT bin
LIBRARY DESTINATION "${${VARS_PREFIX}_INSTALL_LIBDIR}" COMPONENT shlib)
#enabling it will add all GYM dependencies as dependencies for third party users
set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS GYM)
include(InstallBasicPackageFiles)
install_basic_package_files(GYM VARS_PREFIX ${VARS_PREFIX}
VERSION ${${VARS_PREFIX}_VERSION}
COMPATIBILITY SameMajorVersion
TARGETS_PROPERTY ${VARS_PREFIX}_TARGETS
NO_CHECK_REQUIRED_COMPONENTS_MACRO)
include(AddUninstallTarget)
# remove old installed script
file(REMOVE ${CMAKE_INSTALL_PREFIX}/bin/generate_GYM_skeleton.sh)
# install new scripts
INSTALL(PROGRAMS scripts/generate_GYM_generic_skeleton.sh DESTINATION bin)
INSTALL(PROGRAMS scripts/generate_GYM_control_skeleton.sh DESTINATION bin)
add_subdirectory(doc)
add_subdirectory(examples)
#######################
# Add Testing target #
#######################
enable_testing()
add_subdirectory(tests)