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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
set(PROJECT_NAME force_control_collection)
set(PROJECT_GENERATED_HEADERS_SKIP_DEPRECATED ON)
set(PROJECT_GENERATED_HEADERS_SKIP_CONFIG ON)
set(PROJECT_GENERATED_HEADERS_SKIP_WARNING ON)
set(PROJECT_URL https://github.com/isri-aist/ForceControlCollection)
set(PROJECT_DESCRIPTION "")
set(CMAKE_CXX_STANDARD 17)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR ON)
option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
option(USE_ROS2 "Use ROS2" OFF)
project(force_control_collection LANGUAGES CXX)
# Eigen
find_package(Eigen3 REQUIRED)
# mc_rtc
find_package(mc_rtc REQUIRED)
if(USE_ROS2)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(qp_solver_collection REQUIRED)
else()
option(BUILD_TESTING "Build test" ON)
find_package(qp_solver_collection REQUIRED)
endif()
add_subdirectory(src)
if(NOT USE_ROS2)
install(EXPORT ${PROJECT_NAME}
FILE ${PROJECT_NAME}Targets.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
NAMESPACE ${PROJECT_NAME}::
)
# Write initial config cmake file
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/Config.cmake.in"
"
\@PACKAGE_INIT\@
include(\"\${CMAKE_CURRENT_LIST_DIR}/\@PROJECT_NAME\@Targets.cmake\")
set(\@PROJECT_NAME\@_LIBRARIES \@PROJECT_NAME\@::ForceColl)
")
include(CMakePackageConfigHelpers)
# generate the config file that is includes the exports
configure_package_config_file(${CMAKE_CURRENT_BINARY_DIR}/Config.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}"
NO_SET_AND_CHECK_MACRO
NO_CHECK_REQUIRED_COMPONENTS_MACRO
)
# generate the version file for the config file
# Extract version numbers from package.xml
file(READ package.xml PACKAGE_XML)
string(REGEX MATCH "<version>[0-9]+\\.[0-9]+\\.[0-9]+</version>" DIRTY_VERSION_STRING ${PACKAGE_XML})
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\1" FCC_MAJOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\2" FCC_MINOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\3" FCC_PATCH_VERSION "${DIRTY_VERSION_STRING}")
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
VERSION "${FCC_MAJOR_VERSION}.${FCC_MINOR_VERSION}.${FCC_PATCH_VERSION}"
COMPATIBILITY AnyNewerVersion
)
# install config files
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
)
endif()
if(BUILD_TESTING)
add_subdirectory(tests)
endif()
if(INSTALL_DOCUMENTATION)
add_subdirectory(doc)
endif()
if(USE_ROS2)
ament_export_include_directories(include)
ament_export_libraries(ForceColl)
ament_export_dependencies(
rclcpp
qp_solver_collection
)
ament_export_targets(${PROJECT_NAME})
ament_package()
endif()