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# Build and install TaskSpaceControl-UR10 example, from within a
# Simbody source build. This must be invoked as a CMake subdirectory from
# the main examples CMakeLists.txt file.
set(header_files UR10.h)
set(shared_header_files
../shared/TaskSpace.h ../shared/SimbodyExampleHelper.h)
set(source_files TaskSpaceControl-UR10.cpp UR10.cpp)
set(shared_source_files ../shared/TaskSpace.cpp)
set(all_header_files ${header_files} ${shared_header_files})
set(all_source_files ${source_files} ${shared_source_files})
add_definitions("-DSIMBODY_EXAMPLE_NAME=\"${EX_NAME}\"")
if(BUILD_TESTS_AND_EXAMPLES_SHARED)
# Link with shared library
add_executable(${EX_NAME} ${all_source_files} ${all_header_files})
if(GUI_NAME)
add_dependencies(${EX_NAME} ${GUI_NAME})
endif()
set_target_properties(${EX_NAME}
PROPERTIES
PROJECT_LABEL "Example - ${EX_NAME}")
target_link_libraries(${EX_NAME} ${EXAMPLES_SHARED_TARGET})
# Don't install Debug examples
install(TARGETS ${EX_NAME}
DESTINATION ${EXAMPLES_INSTALL_BIN}
CONFIGURATIONS Release RelWithDebInfo MinSizeRel)
endif()
if(BUILD_STATIC_LIBRARIES AND BUILD_TESTS_AND_EXAMPLES_STATIC)
# Link with static library
set(ex_static ${EX_NAME}Static)
add_executable(${ex_static} ${all_source_files} ${all_header_files})
if(GUI_NAME)
add_dependencies(${ex_static} ${GUI_NAME})
endif()
set_target_properties(${ex_static}
PROPERTIES
COMPILE_FLAGS "-DSimTK_USE_STATIC_LIBRARIES"
PROJECT_LABEL "Example - ${ex_static}")
target_link_libraries(${ex_static} ${EXAMPLES_STATIC_TARGET})
# Don't install static examples
endif()
# Copy geometry to the binary directory that will
# be the working directory when the example is run from a source build;
# and install it in the examples installation.
foreach(extradir geometry models)
file(GLOB extradir_file "${extradir}/*")
foreach(xfile ${extradir_file})
get_filename_component(xfile_name ${xfile} NAME)
configure_file(${xfile}
${CMAKE_CURRENT_BINARY_DIR}/${extradir}/${xfile_name} COPYONLY)
install(FILES ${xfile} DESTINATION
${EXAMPLES_INSTALL_SRC}/${EX_NAME}/${extradir})
endforeach()
endforeach()
# install source for example
install(FILES ${source_files} ${header_files}
DESTINATION ${EXAMPLES_INSTALL_SRC}/${EX_NAME})
# install the installed version of CMakeLists.txt
install(FILES InstalledCMakeLists.txt
DESTINATION ${EXAMPLES_INSTALL_SRC}/${EX_NAME}
RENAME CMakeLists.txt)
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