Merge pull request #21 from ethz-adrl/feature/cmake2

cmake files do not need to be configured anymore, passing build flags…

.gitignore

@@ -6,6 +6,10 @@ CMakeCache.txt
 !FindIPOPT.cmake
 !Findblasfeo.cmake
 !Findhpipm.cmake
+!ct_core/cmake/ct_coreConfig.cmake
+!ct_optcon/cmake/ct_optconConfig.cmake
+!ct_rbd/cmake/ct_rbdConfig.cmake
+!ct_models/cmake/ct_modelsConfig.cmake
 *.a
 *.o
 *.so

ct_core/CMakeLists.txt

@@ -36,7 +36,7 @@ endif()
 find_package(PythonLibs 2.7 QUIET)
 if (PYTHONLIBS_FOUND)
    message(STATUS "Python found")
-   add_definitions(-DPLOTTING_ENABLED)
+   list(APPEND ct_plot_COMPILE_DEFINITIONS PLOTTING_ENABLED)
    message(STATUS "Python library path ... " ${PYTHON_LIBRARY})
    list(APPEND ct_core_LIBS ${PYTHON_LIBRARY})
 else() 
@@ -71,7 +71,6 @@ set(PRESPEC_LIB_NAMES "")
 
 ## define list of libraries that contain prespecified templates
 if(USE_PRESPEC)
-    add_definitions(-DUSE_PRESPEC)
     # extract the prespec parameters from user-input
     ct_configure_explicit_templates("${CMAKE_CURRENT_SOURCE_DIR}/../ct/config/explicit_templates.cfg" 
         "${CMAKE_CURRENT_SOURCE_DIR}/prespec/" 
@@ -89,6 +88,7 @@ endif()
 ## create ct_core libraries
 add_library(ct_plot SHARED src/core/plot/plot.cpp)
 target_include_directories(ct_plot PUBLIC ${ct_core_target_include_dirs})
+target_compile_definitions(ct_plot PUBLIC ${ct_plot_COMPILE_DEFINITIONS})
 target_link_libraries(ct_plot ${ct_core_LIBS})
 
 add_library(ct_core INTERFACE)
@@ -131,24 +131,15 @@ endif()
 #################
 
 # for correct libraries locations across platforms
-include(GNUInstallDirs) 
-
-## get all compile definitions registered so far and create variable
-get_directory_property( CompileDefs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS )
-foreach( d ${CompileDefs} )
-    set(ct_core_compile_definitions  ${ct_core_compile_definitions} -D${d} ) # recursively add compile definitions
-endforeach()
-
-## generate files required for installation
-configure_file(cmake/ct_coreConfig.cmake.in "${PROJECT_BINARY_DIR}/ct_coreConfig.cmake" @ONLY)
+include(GNUInstallDirs)
 
 ## copy the header files
 install(DIRECTORY include/ct/core DESTINATION include/ct)
 install(DIRECTORY include/ct/external DESTINATION include/ct)
 install(DIRECTORY examples/include/ct/core DESTINATION include/ct)
 
 ## copy the cmake files required for find_package()
-install(FILES "${PROJECT_BINARY_DIR}/ct_coreConfig.cmake" DESTINATION "share/ct_core/cmake")
+install(FILES "cmake/ct_coreConfig.cmake" DESTINATION "share/ct_core/cmake")
 
 ## install library and targets
 install(

ct_core/cmake/ct_coreConfig.cmake.in → ct_core/cmake/ct_coreConfig.cmake

@@ -1,6 +1,4 @@
 ## cmake-config file for the ct_core package
-
-set(ct_core_COMPILE_DEFINITIONS "@ct_core_compile_definitions@")
 
 include(${CMAKE_CURRENT_LIST_DIR}/ct_core_export.cmake)
 

ct_core/examples/CMakeLists.txt

@@ -11,7 +11,7 @@ target_link_libraries(ex_MasspointIntegration ct_core)
 list(APPEND core_ex_TARGETS ex_MasspointIntegration)
 
 add_executable(plotTest src/plot/plotTest.cpp)
-target_link_libraries(plotTest ct_core
+target_link_libraries(plotTest ct_core)
 list(APPEND core_ex_TARGETS plotTest)
 
 if(QWT_ENABLED)
@@ -25,5 +25,4 @@ include(GNUInstallDirs)
 install(
     TARGETS ${core_ex_TARGETS}
     RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_core
-    )
-
+    )

ct_core/test/CMakeLists.txt

@@ -40,3 +40,10 @@ add_custom_command(TARGET run_tests
     POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
+
+## install tests
+include(GNUInstallDirs)
+install(
+    TARGETS ${UNIT_TEST_TARGETS}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_core
+    )

ct_models/CMakeLists.txt

@@ -13,9 +13,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 find_package(ct_rbd REQUIRED)
 find_package(Boost REQUIRED system filesystem)
 
-## add compiler definitions exported by ct_optcon
-add_definitions(${ct_rbd_COMPILE_DEFINITIONS})
-
 
 ## define the directories to be included in all ct_rbd targets
 set(ct_models_target_include_dirs
@@ -226,20 +223,11 @@ endif()
 # for correct libraries locations across platforms
 include(GNUInstallDirs) 
 
-## get all compile definitions registered so far and create variable
-get_directory_property( CompileDefs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS )
-foreach( d ${CompileDefs} )
-    set(ct_models_compile_definitions  ${ct_models_compile_definitions} -D${d} ) # recursively add compile definitions
-endforeach()
-
-## generate files required for installation
-configure_file(cmake/ct_modelsConfig.cmake.in "${PROJECT_BINARY_DIR}/ct_modelsConfig.cmake" @ONLY)
-
 ## copy the header files
 install(DIRECTORY include/ct/models DESTINATION include/ct)
 
 ## copy the cmake files required for find_package()
-install(FILES "${PROJECT_BINARY_DIR}/ct_modelsConfig.cmake" DESTINATION "share/ct_models/cmake")
+install(FILES "cmake/ct_modelsConfig.cmake" DESTINATION "share/ct_models/cmake")
 
 ## install library and targets
 install(

ct_models/cmake/ct_modelsConfig.cmake.in → ct_models/cmake/ct_modelsConfig.cmake

@@ -2,8 +2,6 @@
 
 find_package(ct_rbd REQUIRED)
 
-set(ct_models_COMPILE_DEFINITIONS "@ct_models_compile_definitions@")
-
 include(${CMAKE_CURRENT_LIST_DIR}/ct_models_export.cmake)
 
 #define includes in legacy mode

ct_models/test/CMakeLists.txt

@@ -29,4 +29,11 @@ add_custom_command(TARGET run_tests
     COMMENT "Running tests"
     POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    )
+
+## install tests
+include(GNUInstallDirs)
+install(
+    TARGETS ${UNIT_TEST_TARGETS}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_models
     )

ct_optcon/CMakeLists.txt

@@ -17,9 +17,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 ## find and include required dependencies
 find_package(ct_core REQUIRED)
 
-## add compiler definitions exported by ct_core
-add_definitions(${ct_core_COMPILE_DEFINITIONS})
-
 
 ## find and include optional dependencies
 option(MATLAB "Compile with matlab support" OFF)
@@ -29,19 +26,19 @@ option(DEBUG_PRINT "Print debug messages" OFF)
 
 if(DEBUG_PRINT)
     message(STATUS "Debug Print ON")
-    add_definitions (-DDEBUG_PRINT)
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS DEBUG_PRINT)
 endif(DEBUG_PRINT)
 
 if(MATLAB_FULL_LOG)
     message(WARNING "Compiling with full log to matlab. Execution will be very slow.")
     set(MATLAB ON)
-    add_definitions (-DMATLAB_FULL_LOG)
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS MATLAB_FULL_LOG)
 endif(MATLAB_FULL_LOG)
 
 if(MATLAB)
     message(STATUS "MATLAB support ON")
     find_package(matlab_cpp_interface REQUIRED)
-    add_definitions( -DMATLAB )
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS MATLAB)
 endif(MATLAB)
 
 
@@ -50,8 +47,8 @@ find_package(LAPACK QUIET)
 set(LAPACK_LIBS "")
 if(LAPACK_FOUND)
     message(STATUS "Found LAPACK library")
-    add_definitions (-DCT_USE_LAPACK)
     list(APPEND LAPACK_LIBS lapack)
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS CT_USE_LAPACK)
 else(LAPACK_FOUND)
     message(STATUS "Could not find LAPACK library")
 endif(LAPACK_FOUND)
@@ -63,19 +60,19 @@ find_package(hpipm QUIET)
 if(blasfeo_FOUND AND hpipm_FOUND)
     message(STATUS "Found HPIPM and BLASFEO")
     set(HPIPM ON)
-    add_definitions(-DHPIPM)
     list(APPEND HPIPM_LIBS ${hpipm_LIBRARIES} ${blasfeo_LIBRARIES})
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS HPIPM)
 endif()
 
 
 ## include IPOPT (after installation via sudo apt-get install coinor-libipopt-dev)
 find_package(IPOPT QUIET)
 if(IPOPT_FOUND)
     set(BUILD_WITH_IPOPT_SUPPORT ON)
-    add_definitions(-DBUILD_WITH_IPOPT_SUPPORT)
-    add_definitions(${IPOPT_DEFINITIONS})
     message(STATUS "Found IPOPT - building with IPOPT support") 
     set(IPOPT_LIBS ipopt) # dl mumps coinhsl lapack blas gfortran m quadmath coinmetis)
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS BUILD_WITH_IPOPT_SUPPORT)
+    list(APPEND ct_optcon_COMPILE_DEFINITIONS ${IPOPT_DEFINITIONS})
 endif()
 
 
@@ -86,7 +83,7 @@ endif()
 #    message(STATUS "Found SNOPT - building with SNOPT support")
 #    include_directories( "$ENV{SNOPT_SOURCE_DIR}/include")
 #
-#    add_definitions( -DBUILD_WITH_SNOPT_SUPPORT )
+#    list(APPEND ct_optcon_COMPILE_DEFINITIONS BUILD_WITH_SNOPT_SUPPORT)
 #    find_library(SNOPT_LIBRARY1 snopt7_cpp   $ENV{SNOPT_SOURCE_DIR}/lib REQUIRED)
 #    find_library(SNOPT_LIBRARY2 snopt7       $ENV{SNOPT_SOURCE_DIR}/lib REQUIRED)
 #    set(SNOPT_LIBS ${SNOPT_LIBRARY1} ${SNOPT_LIBRARY2})
@@ -105,7 +102,7 @@ endif()
 ###################
 
 ## define the directories to be included in all ct_optcon targets
-set(ct_optcon_target_include_dirs
+set(ct_optcon_TARGET_INCLUDE_DIRS
     ${ct_core_INCLUDE_DIRS}
     ${matlab_cpp_interface_INCLUDE_DIRS}
     ${blasfeo_INCLUDE_DIRS}
@@ -127,7 +124,8 @@ if(USE_PRESPEC)
     # create libraries
     foreach(lib_name ${PRESPEC_LIB_NAMES})
         add_library(${lib_name} SHARED ${${lib_name}_SRCS})
-        target_include_directories(${lib_name} PUBLIC ${ct_optcon_target_include_dirs})
+        target_include_directories(${lib_name} PUBLIC ${ct_optcon_TARGET_INCLUDE_DIRS})
+        target_compile_definitions(${lib_name} PUBLIC ${ct_optcon_COMPILE_DEFINITIONS})
         target_link_libraries(${lib_name} 
             ct_core
             ${matlab_cpp_interface_LIBRARIES}
@@ -141,7 +139,8 @@ endif(USE_PRESPEC)
 
 ## create ct_optcon library
 add_library(ct_optcon INTERFACE)
-target_include_directories(ct_optcon INTERFACE ${ct_optcon_target_include_dirs})
+target_include_directories(ct_optcon INTERFACE ${ct_optcon_TARGET_INCLUDE_DIRS})
+target_compile_definitions(ct_optcon INTERFACE ${ct_optcon_COMPILE_DEFINITIONS})
 target_link_libraries(ct_optcon INTERFACE
     ct_core
     ${matlab_cpp_interface_LIBRARIES}
@@ -181,20 +180,11 @@ include(GNUInstallDirs)
 
 install(DIRECTORY include/ct/optcon DESTINATION include/ct)
 
-## get all compile definitions registered so far and create variable
-get_directory_property( CompileDefs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS )
-foreach( d ${CompileDefs} )
-    set(ct_optcon_compile_definitions  ${ct_optcon_compile_definitions} -D${d} ) # recursively add compile definitions
-endforeach()
-
-## generate files required for installation
-configure_file(cmake/ct_optconConfig.cmake.in "${PROJECT_BINARY_DIR}/ct_optconConfig.cmake" @ONLY)
-
 ## copy the header files
 install(DIRECTORY include/ct/optcon DESTINATION include/ct)
 
 ## copy the cmake files required for find_package()
-install(FILES "${PROJECT_BINARY_DIR}/ct_optconConfig.cmake" DESTINATION "share/ct_optcon/cmake")
+install(FILES "cmake/ct_optconConfig.cmake" DESTINATION "share/ct_optcon/cmake")
 
 ## install library and targets
 install(

ct_optcon/cmake/ct_optconConfig.cmake.in → ct_optcon/cmake/ct_optconConfig.cmake

@@ -1,9 +1,7 @@
-# cmake-onfig file for the ct_optcon package
+# cmake-config file for the ct_optcon package
 
 find_package(ct_core REQUIRED)
 
-set(ct_optcon_COMPILE_DEFINITIONS "@ct_optcon_compile_definitions@")
-
 include(${CMAKE_CURRENT_LIST_DIR}/ct_optcon_export.cmake)
 
 #define includes in legacy mode

ct_optcon/test/CMakeLists.txt

@@ -81,4 +81,11 @@ add_custom_command(TARGET run_tests
     COMMENT "Running tests"
     POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    )
+
+    ## install tests
+include(GNUInstallDirs)
+install(
+    TARGETS ${UNIT_TEST_TARGETS}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_optcon
     )

ct_rbd/CMakeLists.txt

@@ -14,9 +14,6 @@ SET(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 find_package(kindr REQUIRED)
 find_package(ct_optcon REQUIRED)
 
-## add compiler definitions exported by ct_optcon
-add_definitions(${ct_optcon_COMPILE_DEFINITIONS})
-
 
 ###################
 # BUILD LIBRARIES #
@@ -61,21 +58,12 @@ endif()
 # for correct libraries locations across platforms
 include(GNUInstallDirs) 
 
-## get all compile definitions registered so far and create variable
-get_directory_property( CompileDefs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS )
-foreach( d ${CompileDefs} )
-    set(ct_rbd_compile_definitions  ${ct_rbd_compile_definitions} -D${d} ) # recursively add compile definitions
-endforeach()
-
-## generate files required for installation
-configure_file(cmake/ct_rbdConfig.cmake.in "${PROJECT_BINARY_DIR}/ct_rbdConfig.cmake" @ONLY)
-
 ## copy the header files
 install(DIRECTORY include/ct/rbd DESTINATION include/ct)
 install(DIRECTORY include/ct/iit DESTINATION include/ct)
 
 ## copy the cmake files required for find_package()
-install(FILES "${PROJECT_BINARY_DIR}/ct_rbdConfig.cmake" DESTINATION "share/ct_rbd/cmake")
+install(FILES "cmake/ct_rbdConfig.cmake" DESTINATION "share/ct_rbd/cmake")
 
 ## install library and targets
 install(

ct_rbd/cmake/ct_rbdConfig.cmake.in → ct_rbd/cmake/ct_rbdConfig.cmake

@@ -2,8 +2,6 @@
 
 find_package(ct_optcon REQUIRED)
 
-set(ct_rbd_COMPILE_DEFINITIONS "@ct_rbd_compile_definitions@")
-
 include(${CMAKE_CURRENT_LIST_DIR}/ct_rbd_export.cmake)
 
 #define includes in legacy mode

ct_rbd/test/CMakeLists.txt

@@ -63,4 +63,11 @@ add_custom_command(TARGET run_tests
     COMMENT "Running tests"
     POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    )
+
+## install tests
+include(GNUInstallDirs)
+install(
+    TARGETS ${UNIT_TEST_TARGETS}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_rbd
     )