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option(OMPL_BUILD_PYBINDINGS "Build OMPL Python bindings" ON)
option(OMPL_BUILD_PYTESTS "Build OMPL Python tests" ON)
if (OMPL_BUILD_PYBINDINGS)
include(PythonBindingsUtils)
if(WIN32)
# omit StateStorage class bindings on Windows;
# Boost.Serialization does nasty things that break the bindings.
set(PYOMPL_EXTRA_CFLAGS "${PYOMPL_EXTRA_CFLAGS} -DOMPL_BASE_STATE_STORAGE_ -DOMPL_BASE_PLANNER_DATA_STORAGE_ -DOMPL_CONTROL_PLANNER_DATA_STORAGE_")
add_definitions(-DOMPL_BASE_STATE_STORAGE_ -DOMPL_BASE_PLANNER_DATA_STORAGE_ -DOMPL_CONTROL_PLANNER_DATA_STORAGE_)
endif(WIN32)
set(OMPL_MODULES base control geometric tools util)
if(OMPL_EXTENSION_MORSE)
list(APPEND OMPL_MODULES morse)
endif()
if(PY_OMPL_GENERATE)
# need to run cmake to regenerate ompl/bindings_generator.py if
# bindings_generator.py.in is changed.
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/bindings_generator.py.in"
"${CMAKE_CURRENT_SOURCE_DIR}/ompl/bindings_generator.py" @ONLY)
foreach(module ${OMPL_MODULES})
create_module_generation_targets(${module} "${CMAKE_CURRENT_SOURCE_DIR}")
endforeach(module)
add_dependencies(update_base_bindings update_util_bindings)
add_dependencies(update_geometric_bindings update_base_bindings)
add_dependencies(update_control_bindings update_geometric_bindings)
add_dependencies(update_control_bindings update_base_bindings)
add_dependencies(update_tools_bindings update_control_bindings)
if(OMPL_EXTENSION_MORSE)
add_dependencies(update_morse_bindings update_base_bindings)
add_dependencies(update_morse_bindings update_control_bindings)
endif()
endif(PY_OMPL_GENERATE)
if(PY_OMPL_COMPILE AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/bindings")
foreach(module ${OMPL_MODULES})
create_module_target(${module} "${CMAKE_CURRENT_SOURCE_DIR}")
endforeach(module)
install(DIRECTORY ompl DESTINATION "${OMPL_PYTHON_INSTALL_DIR}"
COMPONENT python
PATTERN "*.pyc" EXCLUDE
PATTERN "__pycache__" EXCLUDE
PATTERN "_*.so" EXCLUDE
PATTERN "app" EXCLUDE
PATTERN "morse" EXCLUDE)
# put app submodule in omplapp component
if(OMPLAPP_VERSION)
install(DIRECTORY ompl/app
DESTINATION "${OMPL_PYTHON_INSTALL_DIR}/ompl"
COMPONENT omplapp
PATTERN "*.pyc" EXCLUDE
PATTERN "__pycache__" EXCLUDE
PATTERN "_*.so" EXCLUDE)
endif()
# put morse submodule in morse component
if(OMPL_EXTENSION_MORSE)
install(DIRECTORY ompl/morse
DESTINATION "${OMPL_PYTHON_INSTALL_DIR}/ompl"
COMPONENT morse
PATTERN "*.pyc" EXCLUDE
PATTERN "__pycache__" EXCLUDE
PATTERN "_*.so" EXCLUDE
PATTERN "addons" EXCLUDE)
# blender add-on
install(DIRECTORY ompl/morse/addons
DESTINATION "share/ompl${OMPL_INSTALL_SUFFIX}"
COMPONENT morse
PATTERN "*.pyc" EXCLUDE)
endif()
endif()
endif(OMPL_BUILD_PYBINDINGS)
add_custom_target(clean_bindings
"${CMAKE_COMMAND}" -E remove_directory "${CMAKE_CURRENT_SOURCE_DIR}/bindings"
COMMAND "${CMAKE_COMMAND}" -E remove -f pyplusplus_{base,control,geometric,tools,util}.{cache,log}
WORKING_DIRECTORY "${PROJECT_BINARY_DIR}")
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