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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(o80_pam)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED on)
################
# Dependencies #
################
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(ament_cmake_nose REQUIRED)
find_package(mpi_cmake_modules REQUIRED)
find_package(pam_interface REQUIRED)
find_package(pybind11 REQUIRED)
find_package(context REQUIRED)
find_package(o80 REQUIRED)
ament_export_dependencies(
mpi_cmake_modules
pybind11
context
pam_interface
o80)
# prepare to export all needed targets
set(all_targets)
set(all_target_exports)
###########
# Library #
###########
add_library( ${PROJECT_NAME} SHARED
src/actuator_state.cpp
src/robot_fk_extended_state.cpp)
target_include_directories(
${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}
o80 context)
target_link_libraries(${PROJECT_NAME} o80::o80)
target_link_libraries(${PROJECT_NAME} pam_interface::pam_interface)
ament_export_interfaces(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
list(APPEND all_targets ${PROJECT_NAME})
list(APPEND all_target_exports export_${PROJECT_NAME})
###################
# Python wrappers #
###################
add_library(${PROJECT_NAME}_py MODULE srcpy/wrappers.cpp)
target_link_libraries(${PROJECT_NAME}_py PRIVATE pybind11::module)
target_link_libraries(${PROJECT_NAME}_py PRIVATE ${PYTHON_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_py PRIVATE ${PROJECT_NAME})
set_target_properties(${PROJECT_NAME}_py
PROPERTIES PREFIX "" SUFFIX "${PYTHON_MODULE_EXTENSION}")
set_target_properties(${PROJECT_NAME}_py PROPERTIES
OUTPUT_NAME ${PROJECT_NAME}_wrp)
target_include_directories(
${PROJECT_NAME}_py
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> SYSTEM
PUBLIC ${PYTHON_INCLUDE_DIRS})
_ament_cmake_python_get_python_install_dir()
install(TARGETS ${PROJECT_NAME}_py DESTINATION ${PYTHON_INSTALL_DIR})
######################
# Python Native code #
######################
# final python package o80_pam, consisting of the python sources
# (in python folder) + o80_pam_wrp (see __init__.py file in python sources)
ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR python/${PROJECT_NAME})
###############
# Executables #
###############
install_scripts(
${CMAKE_CURRENT_LIST_DIR}/bin/o80_dummy.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_pamy1.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_pamy2.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_plotting.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_console.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_check.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_swing_demo.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_logger.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_log_file_stats.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_introspector.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_robot_ball_logger.py
${CMAKE_CURRENT_LIST_DIR}/bin/o80_robot_ball_replay.py
DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
)
######################
# Install and export #
######################
install(DIRECTORY include/ DESTINATION include)
install(
TARGETS ${all_targets}
EXPORT ${all_target_exports}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES
DESTINATION include)
ament_package()
##############
# Unit Tests #
##############
if(BUILD_TESTING)
# python unit tests
find_package(ament_cmake_nose REQUIRED)
ament_add_nose_test(test_${PROJECT_NAME}_1_python tests/test_logger.py)
ament_add_nose_test(test_${PROJECT_NAME}_2_python tests/test_observation_conversions.py)
endif()