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CMake Lists

This document defines CMake configuration options and settings for building the Rigid Body Dynamics Library (RBDL) project. It sets version variables, finds dependencies like Eigen3, configures static/dynamic library builds, and enables optional addons. Build artifacts like headers and libraries will be installed in standard paths.

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Vyankatesh Ashtekar
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51 views

CMake Lists

This document defines CMake configuration options and settings for building the Rigid Body Dynamics Library (RBDL) project. It sets version variables, finds dependencies like Eigen3, configures static/dynamic library builds, and enables optional addons. Build artifacts like headers and libraries will be installed in standard paths.

Uploaded by

Vyankatesh Ashtekar
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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CMAKE_MINIMUM_REQUIRED(VERSION 3.

0)

SET ( RBDL_VERSION_MAJOR 2 )
SET ( RBDL_VERSION_MINOR 6 )
SET ( RBDL_VERSION_PATCH 0 )
SET ( RBDL_VERSION
${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH}
)
SET ( RBDL_SO_VERSION
${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH}
)
SET (PROJECT_VERSION ${RBDL_VERSION})
PROJECT (RBDL VERSION ${RBDL_VERSION})

LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake )

INCLUDE_DIRECTORIES (
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_BINARY_DIR}/include
)

# SET (CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")

INCLUDE(GNUInstallDirs)

SET_TARGET_PROPERTIES ( ${PROJECT_EXECUTABLES} PROPERTIES


LINKER_LANGUAGE CXX
)

# Set a default build type to 'Release' if none was specified


IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui
SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
"MinSizeRel" "RelWithDebInfo")
ENDIF()

# Find and use the system's Eigen3 library


FIND_PACKAGE (Eigen3 3.0.0)

IF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)


MESSAGE (WARNING "Could not find Eigen3 on your system. Install it or use the
slower SimpleMath library by enabling RBDL_USE_SIMPLE_MATH.")
ENDIF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)

IF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)


INCLUDE_DIRECTORIES (SYSTEM ${EIGEN3_INCLUDE_DIR})
ENDIF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)

# Options
SET (RBDL_BUILD_STATIC_DEFAULT OFF)
IF (MSVC)
SET (RBDL_BUILD_STATIC_DEFAULT ON)
ENDIF (MSVC)

OPTION (RBDL_BUILD_STATIC "Build statically linked library (otherwise dynamiclly


linked)" ${RBDL_BUILD_STATIC_DEFAULT})
OPTION (RBDL_BUILD_TESTS "Build the test executables" OFF)
OPTION (RBDL_ENABLE_LOGGING "Enable logging (warning: major impact on
performance!)" OFF)
OPTION (RBDL_USE_SIMPLE_MATH "Use slow math instead of the fast Eigen3 library
(faster compilation)" OFF)
OPTION (RBDL_STORE_VERSION "Enable storing of version information in the library
(requires build from valid repository)" OFF)
OPTION (RBDL_BUILD_ADDON_URDFREADER "Build the (experimental) urdf reader" OFF)
OPTION (RBDL_BUILD_ADDON_BENCHMARK "Build the benchmarking tool" OFF)
OPTION (RBDL_BUILD_ADDON_LUAMODEL "Build the lua model reader" OFF)
OPTION (RBDL_BUILD_PYTHON_WRAPPER "Build experimental python wrapper" OFF)
OPTION (RBDL_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
OPTION (RBDL_BUILD_ADDON_GEOMETRY "Build the geometry library" OFF)
OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF)
OPTION (RBDL_BUILD_ADDON_MUSCLE_FITTING "Build muscle library fitting functions
(requires Ipopt)" OFF)

SET (RBDL_BUILD_COMPILER_ID ${CMAKE_CXX_COMPILER_ID})


SET (RBDL_BUILD_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION})

# Addons
IF (RBDL_BUILD_ADDON_URDFREADER)
ADD_SUBDIRECTORY ( addons/urdfreader )
ENDIF (RBDL_BUILD_ADDON_URDFREADER)

IF (RBDL_BUILD_ADDON_BENCHMARK)
ADD_SUBDIRECTORY ( addons/benchmark )
ENDIF (RBDL_BUILD_ADDON_BENCHMARK)

IF (RBDL_BUILD_ADDON_LUAMODEL)
ADD_SUBDIRECTORY ( addons/luamodel )
ENDIF (RBDL_BUILD_ADDON_LUAMODEL)

IF(RBDL_BUILD_ADDON_MUSCLE)
SET(RBDL_BUILD_ADDON_GEOMETRY ON CACHE BOOL "Build the geometry library" FORCE)
IF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
SET(CUSTOM_IPOPT_PATH "" CACHE PATH "Path to specific IPOPT Installation")
ENDIF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
ADD_SUBDIRECTORY ( addons/muscle )
IF(RBDL_BUILD_TESTS)
ADD_SUBDIRECTORY ( addons/muscle/tests )
ENDIF(RBDL_BUILD_TESTS)
ENDIF(RBDL_BUILD_ADDON_MUSCLE)

IF(RBDL_BUILD_ADDON_GEOMETRY)
ADD_SUBDIRECTORY ( addons/geometry )
IF(RBDL_BUILD_TESTS)
ADD_SUBDIRECTORY ( addons/geometry/tests )
ENDIF(RBDL_BUILD_TESTS)
ENDIF(RBDL_BUILD_ADDON_GEOMETRY)

IF (RBDL_BUILD_TESTS)
ADD_SUBDIRECTORY ( tests )
ENDIF (RBDL_BUILD_TESTS)

# Source files for RBDL


SET ( RBDL_SOURCES
src/rbdl_version.cc
src/rbdl_mathutils.cc
src/rbdl_utils.cc
src/Constraints.cc
src/Dynamics.cc
src/Logging.cc
src/Joint.cc
src/Model.cc
src/Kinematics.cc
)

IF (MSVC AND NOT RBDL_BUILD_STATIC)


MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please
enable RBDL_BUILD_STATIC.")
ENDIF (MSVC AND NOT RBDL_BUILD_STATIC)

# Static / dynamic builds


IF (RBDL_BUILD_STATIC)
ADD_LIBRARY ( rbdl-static STATIC ${RBDL_SOURCES} )
IF (NOT WIN32)
SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES PREFIX "lib")
ENDIF (NOT WIN32)
SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES
OUTPUT_NAME "rbdl"
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
CXX_EXTENSIONS OFF
)

IF (RBDL_BUILD_ADDON_LUAMODEL)
TARGET_LINK_LIBRARIES ( rbdl-static
rbdl_luamodel-static
)
ENDIF (RBDL_BUILD_ADDON_LUAMODEL)

INSTALL (TARGETS rbdl-static


LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
ELSE (RBDL_BUILD_STATIC)
ADD_LIBRARY ( rbdl SHARED ${RBDL_SOURCES} )
SET_TARGET_PROPERTIES ( rbdl PROPERTIES
VERSION ${RBDL_VERSION}
SOVERSION ${RBDL_SO_VERSION}
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
CXX_EXTENSIONS OFF
)

INSTALL (TARGETS rbdl


LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
ENDIF (RBDL_BUILD_STATIC)

IF (RBDL_STORE_VERSION)
# Set versioning information that can be queried during runtime
EXECUTE_PROCESS(COMMAND "git" "rev-parse" "HEAD"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
OUTPUT_VARIABLE RBDL_BUILD_COMMIT)
STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_COMMIT "${RBDL_BUILD_COMMIT}")
EXECUTE_PROCESS(COMMAND "git" "describe" "--all" "--dirty" "--long"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
OUTPUT_VARIABLE RBDL_BUILD_BRANCH)
STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_BRANCH "${RBDL_BUILD_BRANCH}")
SET (RBDL_BUILD_TYPE ${CMAKE_BUILD_TYPE})
ELSE (RBDL_STORE_VERSION)
SET (RBDL_BUILD_COMMIT "unknown")
SET (RBDL_BUILD_BRANCH "unknown")
SET (RBDL_BUILD_TYPE "unknown")
ENDIF (RBDL_STORE_VERSION)

CONFIGURE_FILE (
"${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/rbdl_config.h.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h"
)

# Python wrapper
IF (RBDL_BUILD_PYTHON_WRAPPER)
add_subdirectory ( python )
ENDIF (RBDL_BUILD_PYTHON_WRAPPER)

# Installation
FILE ( GLOB headers
${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/*.h
${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h
)

INSTALL ( FILES ${headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl )

# Setup of SimpleMath install settings


IF (RBDL_USE_SIMPLE_MATH)
INSTALL ( DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/SimpleMath"
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl
)
ENDIF (RBDL_USE_SIMPLE_MATH)

# pkg-config
CONFIGURE_FILE (
${CMAKE_CURRENT_SOURCE_DIR}/rbdl.pc.cmake
${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc @ONLY
)
INSTALL (
FILES ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc
DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
)

# Packaging
SET(CPACK_GENERATOR "DEB")
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis <[email protected]>")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "the Rigid Body Dynamics Library (RBDL)")
SET(CPACK_PACKAGE_VENDOR "Martin Felis")
SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
SET(CPACK_PACKAGE_VERSION_MAJOR ${RBDL_VERSION_MAJOR})
SET(CPACK_PACKAGE_VERSION_MINOR ${RBDL_VERSION_MINOR})
SET(CPACK_PACKAGE_VERSION_PATCH ${RBDL_VERSION_PATCH})
SET(CPACK_PACKAGE_INSTALL_DIRECTORY "CPACK_PACKAGE ${CPACK_PACKAGE_VERSION_MAJOR}.$
{CPACK_PACKAGE_VERSION_MINOR}")
SET(CPACK_PACKAGE_FILE_NAME "rbdl-${CMAKE_LIBRARY_ARCHITECTURE}-$
{CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.$
{CPACK_PACKAGE_VERSION_PATCH}")
SET(CPACK_PACKAGE_EXECUTABLES "rbdl_luamodel_util;RBDL Lua Model Utility")

INCLUDE(CPack)

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