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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
### Uses the awesome CMake library template
### https://github.com/robotology/how-to-export-cpp-library
### CUSTOMIZATION STEPS
# 1. Change the argument to project() with the name of your library/package
# (it will be the one used for find_package() call)
# 2. Change version information
# 3. Add your library source files in the subdirectories
# - src/"LibName"/include
# - src/"LibName"/src
# 4. Add your executable source files in the subdirectories
# - src/"ExecName"
# 5. Update src/CMakeLists.txt
# 6. Add the tests to your library in /test subdirectory and modify
# test/CMakeLists.txt accordingly.
###
# This sets the PROJECT_NAME, PROJECT_VERSION as well as other variable
# listed here: https://cmake.org/cmake/help/latest/command/project.html.
# We use this name to export all the files such that is then possible to use
# find_package(LibTemplateCMake) in third party projects.
# LANGUAGES specifies which languages your project supports. To have a broad
# support with external libraries, it is good practice to list both CXX and C.
# Infact, some legacy Find<package>.cmake files that require the C language to
# be enabled and thus using only CXX may cause issues. Note that by default when
# LANGUAGES is not specified CMake enables both CXX and C.
project(manip-env-visu
DESCRIPTION "Simple lib for manipulation environment visualization"
LANGUAGES CXX
VERSION 0.1.0)
set(CMAKE_CXX_STANDARD 17)
# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
include(GNUInstallDirs)
# Control where libraries and executables are placed during the build.
# With the following settings executables are placed in <the top level of the
# build tree>/bin and libraries/archives in <top level of the build tree>/lib.
# This is particularly useful to run ctests on libraries built on Windows
# machines: tests, which are executables, are placed in the same folders of
# dlls, which are treated as executables as well, so that they can properly
# find the libraries to run. This is a because of missing RPATH on Windows.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
# Under MSVC, we set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
# built in debug mode. In this Windows user can compile, build and install the
# library in both Release and Debug configuration avoiding naming clashes in the
# installation directories.
if(MSVC)
set(CMAKE_DEBUG_POSTFIX "d")
endif()
# Build position independent code.
# Position Independent Code (PIC) is commonly used for shared libraries so that
# the same shared library code can be loaded in each program address space in a
# location where it will not overlap with any other uses of such memory.
# In particular, this option avoids problems occurring when a process wants to
# load more than one shared library at the same virtual address.
# Since shared libraries cannot predict where other shared libraries could be
# loaded, this is an unavoidable problem with the traditional shared library
# concept.
# Generating position-independent code is often the default behavior for most
# modern compilers.
# Moreover linking a static library that is not built with PIC from a shared
# library will fail on some compiler/architecture combinations.
# Further details on PIC can be found here:
# https://eli.thegreenplace.net/2011/11/03/position-independent-code-pic-in-shared-libraries/
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Disable C and C++ compiler extensions.
# C/CXX_EXTENSIONS are ON by default to allow the compilers to use extended
# variants of the C/CXX language.
# However, this could expose cross-platform bugs in user code or in the headers
# of third-party dependencies and thus it is strongly suggested to turn
# extensions off.
set(CMAKE_C_EXTENSIONS OFF)
set(CMAKE_CXX_EXTENSIONS OFF)
# We use
# - InstallBasicPackageFiles (http://robotology.github.io/ycm/gh-pages/v0.8/module/InstallBasicPackageFiles.html)
# - AddUninstallTarget (http://robotology.github.io/ycm/gh-pages/v0.8/module/AddUninstallTarget.html)
# - AddInstallRPATHSupport (http://robotology.github.io/ycm/gh-pages/v0.8/module/AddInstallRPATHSupport.html)
# from YCM. Files are under the cmake subdirectory.
# See https://github.com/robotology/ycm/
# If you don't want to ship these files with your code (recommended), you can
# instead depend on YCM.
# In this case replace the following line with
# find_package(YCM REQUIRED)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
### Options
# Shared/Dynamic or Static library?
option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
# Enable RPATH support for installed binaries and libraries
include(AddInstallRPATHSupport)
add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
USE_LINK_PATH)
# Encourage user to specify a build type (e.g. Release, Debug, etc.), otherwise set it to Release.
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
message(STATUS "Setting build type to 'Release' as none was specified.")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release")
endif()
endif()
### Compile- and install-related commands.
add_subdirectory(src)
# Create and install CMake configuration files for your project that are
# necessary to for other projects to call find_package(LibTemplateCMake).
#
# Note that it is extremely important to use exactly the project name while
# installing configuration files (you can use PROJECT_NAME variable to avoid
# any possible error). This is required to allow find_package() to properly
# look for the installed library in system path, in particular in Windows when
# the installation is performed in the default path.
#
# install_basic_package_files() comes with many input parameters to customize
# the configuration files. The parameters used in the following call provide
# basic versions of CMake configuration files.
# See install_basic_package_files() documentation found in ./cmake folder.
#
# Note that if your library depends from other libraries, you are probably
# required to used the install_basic_package_files() DEPENDENCIES option.
include(InstallBasicPackageFiles)
set(DEPENDENCIES "Eigen3" "urdfdom" "VTK")
install_basic_package_files(${PROJECT_NAME}
VERSION ${${PROJECT_NAME}_VERSION}
COMPATIBILITY AnyNewerVersion
EXPORT ${PROJECT_NAME}
VARS_PREFIX ${PROJECT_NAME}
NO_CHECK_REQUIRED_COMPONENTS_MACRO
DEPENDENCIES ${DEPENDENCIES})
# Add the uninstall target
include(AddUninstallTarget)
# Build examples
add_subdirectory(examples)