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macro(add_urdfdom_library)
set(oneValueArgs LIBNAME)
set(multiValueArgs SOURCES LINK)
cmake_parse_arguments(add_urdfdom_library "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
add_library(${add_urdfdom_library_LIBNAME} SHARED
${add_urdfdom_library_SOURCES})
target_include_directories(${add_urdfdom_library_LIBNAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
target_link_libraries(${add_urdfdom_library_LIBNAME} PUBLIC
${add_urdfdom_library_LINK}
${urdfdom_headers_link_libs}
)
target_link_libraries(${add_urdfdom_library_LIBNAME} PRIVATE
${console_bridge_link_libs}
tinyxml2::tinyxml2
)
if(NOT CMAKE_CXX_STANDARD)
target_compile_features(${add_urdfdom_library_LIBNAME} PUBLIC cxx_std_14)
endif()
set_target_properties(${add_urdfdom_library_LIBNAME} PROPERTIES
DEFINE_SYMBOL URDFDOM_EXPORTS
SOVERSION ${URDF_MAJOR_MINOR_VERSION})
endmacro()
if(TARGET console_bridge::console_bridge)
set(console_bridge_link_libs "console_bridge::console_bridge")
else()
set(console_bridge_link_libs "console_bridge")
endif()
if(TARGET urdfdom_headers::urdfdom_headers)
set(urdfdom_headers_link_libs "urdfdom_headers::urdfdom_headers")
else()
set(urdfdom_headers_link_libs "")
endif()
add_urdfdom_library(
LIBNAME
urdfdom_world
SOURCES
src/pose.cpp
src/model.cpp
src/link.cpp
src/joint.cpp
src/world.cpp)
add_urdfdom_library(
LIBNAME
urdfdom_model
SOURCES
src/pose.cpp
src/model.cpp
src/link.cpp
src/joint.cpp)
add_urdfdom_library(
LIBNAME
urdfdom_sensor
SOURCES
src/urdf_sensor.cpp
LINK
urdfdom_model)
add_urdfdom_library(
LIBNAME
urdfdom_model_state
SOURCES
src/urdf_model_state.cpp
src/twist.cpp)
add_library(urdf_parser INTERFACE)
target_include_directories(urdf_parser INTERFACE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
target_link_libraries(urdf_parser INTERFACE
urdfdom::urdfdom_model
urdfdom::urdfdom_sensor
urdfdom::urdfdom_world)
# --------------------------------
add_executable(check_urdf src/check_urdf.cpp)
target_include_directories(check_urdf PUBLIC include)
target_link_libraries(check_urdf urdfdom_model urdfdom_world)
# Deprecated executable
add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
target_link_libraries(urdf_to_graphiz urdfdom_model)
add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
target_include_directories(urdf_to_graphviz PUBLIC include)
target_link_libraries(urdf_to_graphviz urdfdom_model)
# urdf_mem_test is a binary for testing, not a unit test
add_executable(urdf_mem_test test/memtest.cpp)
target_include_directories(urdf_mem_test PUBLIC include)
target_link_libraries(urdf_mem_test urdfdom_model)
include(CTest)
if(BUILD_TESTING)
# TODO: check Shane's comment https://github.com/ros/urdfdom/pull/157/files#r664960227
add_subdirectory(test)
endif()
INSTALL(
TARGETS
check_urdf
urdf_to_graphiz
urdf_to_graphviz
urdf_mem_test
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
INSTALL(
TARGETS
urdfdom_model
urdfdom_world
urdfdom_sensor
urdfdom_model_state
urdf_parser
EXPORT
urdfdom
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
install(
EXPORT urdfdom
DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
NAMESPACE "${PROJECT_NAME}::"
FILE "urdfdomExport.cmake"
)
INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
|
