[CMake] Exports

CMakeLists.txt

@@ -1,25 +1,34 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
+# Project properties
 SET(PROJECT_ORG loco-3d)
 SET(PROJECT_NAME curves)
-SET(PROJECT_DESCRIPTION
-  "template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics."
-  )
-SET(PROJECT_URL "http://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
+SET(PROJECT_DESCRIPTION "creatie and manipulate spline and bezier curves.")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+
+# Project options
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+
+# Project configuration
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+SET(CXX_DISABLE_WERROR TRUE)
 
+# JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/test.cmake)
 INCLUDE(cmake/python.cmake)
 
-# Disable -Werror on Unix for now.
-SET(CXX_DISABLE_WERROR True)
-
+# Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-ADD_REQUIRED_DEPENDENCY(eigen3)
-ADD_OPTIONAL_DEPENDENCY(pinocchio)
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
+ADD_PROJECT_DEPENDENCY(pinocchio)
 OPTION(CURVES_WITH_PINOCCHIO_SUPPORT "Build with pinocchio support" ${PINOCCHIO_FOUND})
 IF(CURVES_WITH_PINOCCHIO_SUPPORT)
   IF(NOT PINOCCHIO_FOUND)
@@ -31,31 +40,59 @@ ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 
 SET(BOOST_COMPONENTS unit_test_framework serialization)
 
-OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
-
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
-
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-
-  ADD_REQUIRED_DEPENDENCY("eigenpy >= 1.6.8")
+  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 1.6.8")
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-#find_package(Boost 1.58 REQUIRED unit_test_framework system serialization)
-#SET(BOOST_COMPONENTS unit_test_framework serialization)
-
 SEARCH_FOR_BOOST()
-INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+# Main Library
+SET(${PROJECT_NAME}_HEADERS
+  include/${PROJECT_NAME}/bernstein.h
+  include/${PROJECT_NAME}/curve_conversion.h
+  include/${PROJECT_NAME}/curve_abc.h
+  include/${PROJECT_NAME}/exact_cubic.h
+  include/${PROJECT_NAME}/MathDefs.h
+  include/${PROJECT_NAME}/polynomial.h
+  include/${PROJECT_NAME}/bezier_curve.h
+  include/${PROJECT_NAME}/cubic_spline.h
+  include/${PROJECT_NAME}/curve_constraint.h
+  include/${PROJECT_NAME}/quintic_spline.h
+  include/${PROJECT_NAME}/linear_variable.h
+  include/${PROJECT_NAME}/quadratic_variable.h
+  include/${PROJECT_NAME}/cubic_hermite_spline.h
+  include/${PROJECT_NAME}/piecewise_curve.h
+  include/${PROJECT_NAME}/so3_linear.h
+  include/${PROJECT_NAME}/se3_curve.h
+  include/${PROJECT_NAME}/fwd.h
+  include/${PROJECT_NAME}/helpers/effector_spline.h
+  include/${PROJECT_NAME}/helpers/effector_spline_rotation.h
+  include/${PROJECT_NAME}/optimization/definitions.h
+  include/${PROJECT_NAME}/optimization/details.h
+  include/${PROJECT_NAME}/optimization/quadratic_problem.h
+  include/${PROJECT_NAME}/optimization/integral_cost.h
+  include/${PROJECT_NAME}/python/python_definitions.h
+  include/${PROJECT_NAME}/serialization/archive.hpp
+  include/${PROJECT_NAME}/serialization/registeration.hpp
+  include/${PROJECT_NAME}/serialization/eigen-matrix.hpp
+  include/${PROJECT_NAME}/serialization/fwd.hpp
+  )
+
+ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
+IF(CURVES_WITH_PINOCCHIO_SUPPORT)
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} pinocchio::pinocchio)
+ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  ADD_SUBDIRECTORY(include/curves)
+  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_SUBDIRECTORY(python)
+ENDIF(BUILD_PYTHON_INTERFACE)
+
 ADD_SUBDIRECTORY(tests)

python/CMakeLists.txt

@@ -1,8 +1,8 @@
-ADD_SUBDIRECTORY(${PY_NAME})
+ADD_SUBDIRECTORY(${PROJECT_NAME})
 
-PYTHON_INSTALL_ON_SITE(${PY_NAME} __init__.py)
-PYTHON_INSTALL_ON_SITE(${PY_NAME} plot.py)
-PYTHON_INSTALL_ON_SITE(${PY_NAME} optimization.py)
+PYTHON_INSTALL_ON_SITE(${PROJECT_NAME} __init__.py)
+PYTHON_INSTALL_ON_SITE(${PROJECT_NAME} plot.py)
+PYTHON_INSTALL_ON_SITE(${PROJECT_NAME} optimization.py)
 
 ADD_PYTHON_UNIT_TEST("python-curves" "python/test/test.py" "python")
 ADD_PYTHON_UNIT_TEST("python-optimization" "python/test/optimization.py" "python")

python/curves/CMakeLists.txt

@@ -1,4 +1,4 @@
-SET(${PY_NAME}_BINDINGS_SOURCES
+SET(${PROJECT_NAME}_WRAP_SOURCES
   curves_python.cpp
   optimization_python.cpp
   optimization_python.h
@@ -8,20 +8,18 @@ SET(${PY_NAME}_BINDINGS_SOURCES
   namespace.h
   )
 
-ADD_LIBRARY(${PY_NAME} SHARED ${${PY_NAME}_BINDINGS_SOURCES})
-SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES PREFIX "")
-TARGET_COMPILE_OPTIONS(${PY_NAME} PRIVATE "-Wno-conversion")
-PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} eigenpy)
+SET(wrap ${PROJECT_NAME}_wrap)
+ADD_LIBRARY(${wrap} SHARED ${${PROJECT_NAME}_WRAP_SOURCES})
+SET_TARGET_PROPERTIES(${wrap} PROPERTIES OUTPUT_NAME ${PROJECT_NAME} PREFIX "")
+TARGET_COMPILE_OPTIONS(${wrap} PRIVATE "-Wno-conversion")
+TARGET_LINK_LIBRARIES(${wrap} ${Boost_LIBRARIES} eigenpy::eigenpy)
 IF(CURVES_WITH_PINOCCHIO_SUPPORT)
-  PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} pinocchio)
+  TARGET_LINK_LIBRARIES(${wrap} pinocchio::pinocchio)
 ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 
-TARGET_LINK_LIBRARIES(${PY_NAME} ${Boost_LIBRARIES})
-# MESSAGE(WARNING "Boost libraries are : ${Boost_LIBRARIES}")
-
 IF(APPLE)
   # We need to change the extension for python bindings
-  SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so")
+  SET_TARGET_PROPERTIES(${wrap} PROPERTIES SUFFIX ".so")
 ENDIF(APPLE)
 
-INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB}/${PY_NAME})
+INSTALL(TARGETS ${wrap} DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})

tests/CMakeLists.txt

@@ -1,6 +1,3 @@
-ADD_UNIT_TEST(
-  curves_tests Main.cpp
-  )
-PKG_CONFIG_USE_DEPENDENCY(curves_tests eigen3)
-TARGET_LINK_LIBRARIES(curves_tests ${Boost_LIBRARIES})
+ADD_UNIT_TEST(curves_tests Main.cpp)
+TARGET_LINK_LIBRARIES(curves_tests ${PROJECT_NAME} ${Boost_LIBRARIES})
 TARGET_COMPILE_DEFINITIONS(curves_tests PRIVATE -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/data/")