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cmake_minimum_required(VERSION 2.8)
project(ompl CXX C)
# set the default build type
if (NOT CMAKE_BUILD_TYPE)
# By default, use Release mode
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Type of build" FORCE)
# On 32bit architectures, use RelWithDebInfo
if (CMAKE_COMPILER_IS_GNUCC AND CMAKE_SIZEOF_VOID_P EQUAL 4)
set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Type of build" FORCE)
endif()
endif()
message(STATUS "Building ${CMAKE_BUILD_TYPE}")
# This shouldn't be necessary, but there has been trouble
# with MSVC being set off, but MSVCXX ON.
if(MSVC OR MSVC90 OR MSVC10)
set(MSVC ON)
endif (MSVC OR MSVC90 OR MSVC10)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
include(CompilerSettings)
include(OMPLVersion)
include(OMPLUtils)
set(EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
set(LIBRARY_OUTPUT_PATH "${PROJECT_BINARY_DIR}/lib")
set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules"
CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
set(OMPL_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src")
set(OMPL_DEMO_INSTALL_DIR "share/ompl${OMPL_INSTALL_SUFFIX}/demos"
CACHE STRING "Relative path to directory where demos will be installed")
set(OMPL_DOC_INSTALL_DIR "share/ompl${OMPL_INSTALL_SUFFIX}/doc"
CACHE STRING "Relative path to directory where documentation will be installed")
include_directories("${OMPL_INCLUDE_DIR}")
if(MSVC)
add_definitions(-DBOOST_ALL_NO_LIB)
add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
endif(MSVC)
if(IS_ICPC)
set(Boost_USE_STATIC_LIBS ON CACHE STRING "Use statically linked Boost libraries")
else(IS_ICPC)
# Ensure dynamic linking with boost unit_test_framework
add_definitions(-DBOOST_TEST_DYN_LINK)
endif(IS_ICPC)
# Do one quiet find_package on Boost to see if it is recent enough to
# have the try_join_for call
find_package(Boost QUIET 1.50)
# If Boost is not found at all, the check for version 1.50 below will die in
# the most ungraceful manner because Boost_VERSION is not defined. Define the
# variable here for a more useful error.
if (NOT ${Boost_FOUND})
set(Boost_VERSION 0)
endif()
# try_join_for requires the chrono library, so if we will use
# try_join_for, we need to include the chrono component
# Must recheck the Boost version, since update_bindings will re-run CMake
# and this will pass for versions of Boost < 1.50
if (${Boost_FOUND} AND ${Boost_VERSION} GREATER 104900) # Boost version is at least 1.50
# we're using chrono
find_package(Boost COMPONENTS date_time thread serialization filesystem system program_options unit_test_framework chrono REQUIRED)
else()
# don't use chrono
find_package(Boost COMPONENTS date_time thread serialization filesystem system program_options unit_test_framework REQUIRED)
endif()
include_directories(SYSTEM ${Boost_INCLUDE_DIR})
if (NOT ${Boost_VERSION} LESS 104400)
option(OMPL_ODESOLVER "Enable OMPL ODE solver classes" ON)
if(${Boost_VERSION} LESS 105300)
# Include bundled version of boost::odeint if it isn't installed natively
set(ODEINT_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src/external")
include_directories(SYSTEM "${ODEINT_INCLUDE_DIR}")
endif()
else()
option(OMPL_ODESOLVER "Enable OMPL ODE solver classes" OFF)
endif()
# on OS X we need to check whether to use libc++ or libstdc++ with clang++
if(APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
include(GetPrerequisites)
get_prerequisites("${Boost_SYSTEM_LIBRARY}" _libs 0 0 "/" "")
set(CXXSTDLIB "")
foreach(_lib ${_libs})
if(_lib MATCHES "libc\\+\\+")
set(CXXSTDLIB "libc++")
elseif(_lib MATCHES "libstdc\\+\\+")
set(CXXSTDLIB "libstdc++")
endif()
endforeach()
if(CXXSTDLIB)
add_definitions(-stdlib=${CXXSTDLIB})
endif()
endif()
# pthread is sometimes needed, depending on OS / compiler
find_package(Threads QUIET)
enable_testing()
# MORSE is only needed for Modular OpenRobots Simulation Engine bindings
find_package(MORSE QUIET)
set(OMPL_EXTENSION_MORSE ${MORSE_FOUND})
# OpenDE is only needed for Open Dynamics Engine bindings
find_package(OpenDE QUIET)
set(OMPL_EXTENSION_OPENDE ${OPENDE_FOUND})
if (OPENDE_FOUND)
add_definitions(${OPENDE_DEFINITIONS})
include_directories(SYSTEM ${OPENDE_INCLUDE_DIR})
endif()
find_package(Triangle QUIET)
set(OMPL_EXTENSION_TRIANGLE ${TRIANGLE_FOUND})
if (TRIANGLE_FOUND)
include_directories(SYSTEM ${TRIANGLE_INCLUDE_DIR})
endif()
# If FLANN is installed, a wrapper for its nearest neighbor data structures can be used
find_package(flann 1.8.3 QUIET)
if (FLANN_FOUND)
set(OMPL_HAVE_FLANN 1)
include_directories(SYSTEM "${FLANN_INCLUDE_DIRS}")
endif()
option(OMPL_LOCAL_PYPLUSPLUS_INSTALL "Whether Py++ and dependencies should be installed in the build directory" OFF)
set(SUDO "sudo")
set(CMAKE_GCCXML_ARGS "")
if(OMPL_LOCAL_PYPLUSPLUS_INSTALL)
set(SUDO "")
set(CMAKE_GCCXML_ARGS "-DCMAKE_INSTALL_PREFIX=${PROJECT_BINARY_DIR}/pyplusplus")
set(DISTUTILS_ARGS "--prefix=${PROJECT_BINARY_DIR}/pyplusplus")
endif()
add_subdirectory(py-bindings)
add_subdirectory(src)
add_subdirectory(tests)
add_subdirectory(demos)
add_subdirectory(scripts)
add_subdirectory(doc)
if (NOT MSVC)
set(PKG_NAME "ompl")
set(PKG_DESC "The Open Motion Planning Library")
set(PKG_OMPL_LIBS "-lompl")
set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/ompl.pc")
configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY)
install(FILES "${pkg_conf_file}"
DESTINATION lib/pkgconfig/
COMPONENT ompl
RENAME "ompl${OMPL_INSTALL_SUFFIX}.pc")
install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/doc/markdown/FindOMPL.cmake"
DESTINATION "share/ompl${OMPL_INSTALL_SUFFIX}"
COMPONENT ompl
RENAME ompl-config.cmake)
if (NOT ${CMAKE_VERSION} VERSION_LESS 2.8.6)
include(WriteBasicConfigVersionFile)
write_basic_config_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/ompl-config-version.cmake"
VERSION ${OMPL_VERSION} COMPATIBILITY SameMajorVersion)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ompl-config-version.cmake"
DESTINATION "share/ompl${OMPL_INSTALL_SUFFIX}"
COMPONENT ompl)
endif()
endif()
# uninstall target
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
if (OMPL_VERSIONED_INSTALL)
# script to create sym links
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/create_symlinks.sh.in"
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/create_symlinks.sh" @ONLY)
execute_process(COMMAND
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/create_symlinks.sh"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/.symlinks/" DESTINATION .)
# script to uninstall sym links
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/uninstall_symlinks.sh.in"
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/uninstall_symlinks.sh" @ONLY)
add_custom_target(uninstall_links COMMAND
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/uninstall_symlinks.sh")
add_dependencies(uninstall uninstall_links)
endif()
include(CPackSettings)
option(OMPL_REGISTRATION "Enable one-time registration of OMPL" ON)
if (OMPL_REGISTRATION)
find_file(OMPL_REGISTERED ".registered" PATHS "${CMAKE_CURRENT_SOURCE_DIR}" NO_DEFAULT_PATH)
if (NOT OMPL_REGISTERED)
file(WRITE "${CMAKE_CURRENT_SOURCE_DIR}/.registered" "")
find_package(Python QUIET)
if (PYTHON_FOUND)
execute_process(COMMAND "${PYTHON_EXEC}" "-m" "webbrowser" "http://ompl.kavrakilab.org/core/register.html"
OUTPUT_QUIET ERROR_QUIET)
endif()
endif()
endif()
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