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CMakeLists.txt
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CMakeLists.txt
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# Copyright: (C) 2014 Walkman Consortium
# Authors: Enrico Mingo, Alessio Rocchi
# CopyPolicy: Released under the terms of the GNU GPL v2.0.
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(OpenSoT)
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 ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
if (CMAKE_BUILD_TYPE STREQUAL "Debug")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=return-type -Werror=address -Werror=parentheses " )
endif(CMAKE_BUILD_TYPE STREQUAL "Debug")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
FIND_PACKAGE(YARP REQUIRED)
FIND_PACKAGE(ICUB REQUIRED)
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(iDynTree REQUIRED)
FIND_PACKAGE(kdl_codyco REQUIRED)
FIND_PACKAGE(orocos_kdl REQUIRED)
FIND_PACKAGE(idynutils REQUIRED)
FIND_PACKAGE(roslib REQUIRED)
FIND_PACKAGE(rospack REQUIRED)
FIND_PACKAGE(rosconsole REQUIRED)
FIND_PACKAGE(urdf REQUIRED)
FIND_PACKAGE(kdl_parser REQUIRED)
FIND_PACKAGE(srdfdom REQUIRED)
FIND_PACKAGE(moveit_core REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS filters surface)
FIND_PACKAGE(tf REQUIRED)
# add include directories
INCLUDE_DIRECTORIES(include ${YARP_INCLUDE_DIRS} ${ICUB_INCLUDE_DIRS} ${iDynTree_INCLUDE_DIRS} ${paramHelp_INCLUDE_DIRS}
${kdl_codyco_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS})
ADD_DEFINITIONS(${PCL_DEFINITIONS})
# add required linker flags
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}")
# Find package qpOASES or build it using ExternalProject
find_package(qpOASES QUIET)
if(NOT qpOASES_FOUND)
set(qpOASES_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/external/qpOASES-ext/")
set(qpOASES_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/external/src/qpOASES-ext-build/")
ExternalProject_Add(qpOASES-ext SOURCE_DIR "${qpOASES_SOURCE_DIR}"
PREFIX "${CMAKE_CURRENT_BINARY_DIR}/external"
INSTALL_COMMAND ""
CMAKE_ARGS -DCMAKE_CXX_FLAGS:STRING="-fPIC")
link_directories("${qpOASES_BINARY_DIR}/libs/")
set(qpOASES_INCLUDE_DIRS "${qpOASES_SOURCE_DIR}/include")
set(qpOASES_LIBRARIES qpOASES)
endif()
include_directories("${qpOASES_INCLUDE_DIRS}")
# for every file in sot_INCLUDES CMake already sets the property HEADER_FILE_ONLY
file(GLOB_RECURSE sot_INCLUDES "${CMAKE_CURRENT_SOURCE_DIR}/include" *.h)
file(GLOB_RECURSE sot_SCRIPTS "${CMAKE_CURRENT_SOURCE_DIR}/python" *.py)
ADD_LIBRARY(OpenSoT SHARED
src/constraints/Aggregated.cpp
src/constraints/BilateralConstraint.cpp
src/constraints/TaskToConstraint.cpp
src/constraints/velocity/CartesianPositionConstraint.cpp
src/constraints/velocity/CoMVelocity.cpp
src/constraints/velocity/ConvexHull.cpp
src/constraints/velocity/JointLimits.cpp
src/constraints/velocity/VelocityLimits.cpp
src/interfaces/yarp/tasks/YCartesian.cpp
src/interfaces/yarp/tasks/YCoM.cpp
src/interfaces/yarp/tasks/YPostural.cpp
src/solvers/QPOases.cpp
src/solvers/QPOasesProblem.cpp
src/tasks/Aggregated.cpp
src/tasks/SubTask.cpp
src/tasks/velocity/Cartesian.cpp
src/tasks/velocity/CoM.cpp
src/tasks/velocity/MinimumEffort.cpp
src/tasks/velocity/Postural.cpp
src/tasks/velocity/MinimizeAcceleration.cpp
src/tasks/velocity/Interaction.cpp
src/tasks/velocity/Manipulability.cpp
src/utils/AutoStack.cpp
src/utils/DefaultHumanoidStack.cpp
src/utils/VelocityAllocation.cpp
${sot_INCLUDES})
# we must wait for qpOASES-ext to be ready before building OpenSoT
if(TARGET qpOASES-ext)
add_dependencies(OpenSoT qpOASES-ext)
endif()
# we now add the YARP and iCub libraries to our project.
TARGET_LINK_LIBRARIES(OpenSoT PUBLIC ${idynutils_LIBRARIES} ${iDynTree_LIBRARIES}
PRIVATE ${qpOASES_LIBRARIES} ${PCL_LIBRARIES})
########################################################################
# use YCM to export OpenSoT so taht it can be found using find_package #
########################################################################
set(VARS_PREFIX "OPENSOT")
set(OPENSOT_MAJOR_VERSION 0)
set(OPENSOT_MINOR_VERSION 0)
set(OPENSOT_PATCH_VERSION 1)
set(OPENSOT_VERSION ${OPENSOT_MAJOR_VERSION}.${OPENSOT_MINOR_VERSION}.${OPENSOT_PATCH_VERSION})
find_package(YCM REQUIRED)
include(YCMDefaultDirs)
ycm_default_dirs(${VARS_PREFIX})
target_include_directories(OpenSoT PUBLIC "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>"
"$<INSTALL_INTERFACE:${${VARS_PREFIX}_INSTALL_INCLUDEDIR}>")
set_target_properties(OpenSoT PROPERTIES VERSION ${${VARS_PREFIX}_VERSION}
SOVERSION ${${VARS_PREFIX}_VERSION})
install(DIRECTORY include/
DESTINATION "${${VARS_PREFIX}_INSTALL_INCLUDEDIR}"
FILES_MATCHING PATTERN "*.h")
install(TARGETS OpenSoT
EXPORT OpenSoT
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 OpenSoT dependencies as dependencies for third party users
set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS OpenSoT)
include(InstallBasicPackageFiles)
install_basic_package_files(OpenSoT VARS_PREFIX ${VARS_PREFIX}
VERSION ${${VARS_PREFIX}_VERSION}
COMPATIBILITY SameMajorVersion
TARGETS_PROPERTY ${VARS_PREFIX}_TARGETS
NO_CHECK_REQUIRED_COMPONENTS_MACRO)
include(AddUninstallTarget)
add_subdirectory(app)
add_subdirectory(doc)
add_subdirectory(examples)
#######################
# Add Testing target #
#######################
enable_testing()
add_subdirectory(tests)