-
Notifications
You must be signed in to change notification settings - Fork 9
/
Copy pathCMakeLists.txt
101 lines (86 loc) · 3.24 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(amp)
set(amp_VERSION_MAJOR 1)
set(amp_VERSION_MINOR 0)
set(amp_VERSION_PATCH 0)
set(amp_VERSION ${amp_VERSION_MAJOR}.${amp_VERSION_MINOR}.${amp_VERSION_PATCH})
option(BUILD_RBDL_INTERFACE "build shared library interface to RBDL." ON)
option(BUILD_KDL_INTERFACE "build shared library interface to KDL." ON)
option(BUILD_TESTS "build unit tests." OFF)
option(BUILD_EXAMPLES "build module examples." ON)
option(BUILD_KDTREE "build the kdtree dependency if not already exists on system." OFF)
option(DEBUG "activate debug-only code sections - this option impacts comp time." ON)
option(VERBOSE "activate verbose output code sections - this option impacts comp time." ON)
option(LOG_ALL_DATA "activate agressive data logging - this option impacts comp time." OFF)
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
message(FATAL_ERROR "Insufficient GCC version!")
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.7)
message(FATAL_ERROR "Insufficient Clang version!")
endif()
endif()
########################
# Required Dependencies
########################
find_package(PkgConfig)
find_package(Eigen 3.3.2)
if(NOT Eigen_FOUND) #if no .cmake file try pkg-config
pkg_search_module(Eigen REQUIRED eigen3>=3.3.2)
endif(NOT Eigen_FOUND)
find_package(boost 1.58.0)
if(NOT boost_FOUND) #if no .cmake file try pkg-config
pkg_search_module(boost REQUIRED boost>=1.58.0)
endif(NOT boost_FOUND)
if(BUILD_KDTREE)
#include(ExternalProject)
#ExternalProject_Add(kdtree
# PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/contrib/kdtree
# SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/contrib/kdtree
# CONFIGURE_COMMAND ${CMAKE_SOURCE_DIR}/contrib/kdtree/configure --prefix=share
# BUILD_COMMAND ${MAKE}})
#ExternalProject_Get_Property(lib_kdtree install_dir)
#add_library(kdtree SHARED IMPORTED)
#set_property(TARGET kdtree PROPERTY IMPORTED_LOCATION ${install_dir}/lib/libkdtree.so)
#add_dependencies(kdtree project_kdtree)
else(BUILD_KDTREE)
find_package(kdtree)
if(NOT kdtree_FOUND) #if no .cmake file try pkg-config
pkg_search_module(kdtree REQUIRED kdtree)
endif(NOT kdtree_FOUND)
endif(BUILD_KDTREE)
#######################
# Optional Dependencies
#######################
pkg_search_module(rbdl REQUIRED rbdl>=2.5.0)
find_package(yaml-cpp 0.5.3)
#find_package(nlopt 2.4.2 REQUIRED nlopt)
#find_package(bullet LinearMath BulletCollision)
find_package(tinyxml 2.6.2)
##################
# compiler options
##################
set(CMAKE_CXX_FLAGS "-Wall -fPIC -std=c++11")
set(CMAKE_CXX_FLAGS_DEBUG "-ggdb") # -DEIGEN_DONT_VECTORIZE")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O2 -DNDEBUG")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG ")
if(DEBUG)
add_definitions(-DDEBUG)
endif(DEBUG)
if(VERBOSE)
add_definitions(-DVERBOSE)
endif(VERBOSE)
if(LOG_ALL_DATA)
add_definitions(-DLOG_ALL_DATA)
endif(LOG_ALL_DATA)
#############################
# Build Libraries and targets
#############################
add_subdirectory(src)
if(BUILD_TESTS)
add_subdirectory(tests)
endif(BUILD_TESTS)
if(BUILD_EXAMPLES)
add_subdirectory(examples)
endif(BUILD_EXAMPLES)