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drake viewer builds with cmake (on mac, requires export CXX=/usr/bin/…
…g++ instead of clang++ due to what appears to be an eigen-related issue) git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@6545 c9849af7-e679-4ec6-a44e-fc146a885bd3
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russt
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Jul 11, 2013
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@@ -82,3 +82,8 @@ bin | |
| drake.jar | ||
| *.out | ||
| urdf_kin_test | ||
| pod-build | ||
| lcmtypes/c | ||
| lcmtypes/cpp | ||
| lcmtypes/java | ||
| lcmtypes/python | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,13 @@ | ||
| cmake_minimum_required(VERSION 2.6.0) | ||
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| set(POD_NAME drake) | ||
| include(cmake/pods.cmake) | ||
| include(cmake/lcmtypes.cmake) | ||
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| lcmtypes_build() | ||
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| #add_subdirectory(util) | ||
| #add_subdirectory(algorithms) | ||
| add_subdirectory(systems) | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,93 +1,49 @@ | ||
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| # Note: make will automatically delete intermediate files (google "make chains of implicit rules") | ||
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| CC = gcc | ||
| CXX = g++ | ||
| PKG_CONFIG_PATH := ${PKG_CONFIG_PATH}:$(shell pwd)/thirdParty | ||
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| LCMFILES = $(shell find . -iname "*.lcm" | tr "\n" " " | sed "s|\./||g") | ||
| SUBDIRS:=$(shell grep -v "^\#" tobuild.txt) | ||
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| LCM_CFILES = $(LCMFILES:%.lcm=%.c) | ||
| LCM_CFLAGS = $(shell pkg-config --cflags lcm) | ||
| LCM_LDFLAGS = $(shell pkg-config --libs lcm) | ||
| EIGEN_CFLAGS = $(shell pkg-config --cflags eigen3) | ||
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| #CFILES = $(LCM_CFILES) | ||
| LCM_JAVAFILES = $(LCMFILES:%.lcm=%.java) | ||
| OTHER_JAVAFILES = util/MyLCMTypeDatabase.java util/MessageMonitor.java util/CoordinateFrameData.java util/LCMCoder.java util/Transform.java | ||
| JAVAFILES = $(LCM_JAVAFILES) $(OTHER_JAVAFILES) | ||
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| OBJFILES = $(LCM_CFILES:%.c=%.o) | ||
| CLASSFILES = $(JAVAFILES:%.java=%.class) | ||
| EXTRACLASSFILES = util/MyLCMTypeDatabase*MyClassVisitor.class | ||
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| MATLAB = $(shell which matlab) | ||
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| all: matlab_config java c | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir all || exit 2; \ | ||
| done | ||
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| debug: CXX += -g | ||
| debug: CC += -g | ||
| debug: matlab_config java c | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir debug || exit 2; \ | ||
| done | ||
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| doxygen : | ||
| doxygen doc/Doxyfile | ||
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| java : drake.jar | ||
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| c : drake.a | ||
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| matlab_config : util/drake_config.mat .matlabroot | ||
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| util/drake_config.mat .matlabroot : configure.m | ||
| matlab -nosplash -nodesktop -r "configure;exit"; | ||
| # todo: consider using configure(struct('autoconfig',true)) | ||
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| drake.jar : $(CLASSFILES) | ||
| cd ..; jar -cf drake/drake.jar $(CLASSFILES:%=drake/%) $(EXTRACLASSFILES:%=drake/%) | ||
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| drake.a : $(OBJFILES) | ||
| ar rc $@ $^ | ||
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| .INTERMEDIATE : $(OBJFILES) $(CLASSFILES) | ||
| .PRECIOUS : $(LCMFILES) $(OTHER_JAVAFILES) | ||
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| util/LCMCoder.class : util/LCMCoder.java util/CoordinateFrameData.class | ||
| javac $< -cp $(CLASSPATH):$(shell pwd)/../ | ||
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| %.class : %.java | ||
| javac $< | ||
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| %.o : %.c | ||
| $(CC) -c -I include/ $< -o $@ $(LCM_CFLAGS) $(EIGEN_CFLAGS) | ||
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| %.c : %.lcm | ||
| @if grep -i package $< ; then echo "\n *** ERROR: $< has a package specified. Don't do that. *** \n"; exit 1; fi | ||
| lcm-gen -c --c-cpath="$(shell echo $< | sed "s|/[A-Za-z0-9_]*\.lcm|/|")" --c-hpath="include/" $< | ||
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| %.java : %.lcm | ||
| @if grep -i package $< ; then echo "\n *** ERROR: $< has a package specified. Don't do that. *** \n"; exit 1; fi | ||
| lcm-gen -j --jdefaultpkg="drake.$(shell echo $< | sed "s|/[A-Za-z0-9._]*\.lcm||g" | tr "/" ".")" --jpath=".." $< | ||
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| clean : | ||
| -rm -f drake.jar drake.a $(LIBS) $(LCM_HFILES) $(LCM_CFILES) $(OBJFILES) $(LCM_JAVAFILES) $(CLASSFILES) $(EXTRACLASSFILES) | ||
| -rm -rf doc/DoxygenMatlab/html | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir clean; \ | ||
| done | ||
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| # Default pod makefile distributed with pods version: 12.11.14 | ||
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| default_target: all | ||
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| # Default to a less-verbose build. If you want all the gory compiler output, | ||
| # run "make VERBOSE=1" | ||
| $(VERBOSE).SILENT: | ||
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| # Figure out where to build the software. | ||
| # Use BUILD_PREFIX if it was passed in. | ||
| # If not, search up to four parent directories for a 'build' directory. | ||
| # Otherwise, use ./build. | ||
| ifeq "$(BUILD_PREFIX)" "" | ||
| BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\ | ||
| if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build) | ||
| endif | ||
| # create the build directory if needed, and normalize its path name | ||
| BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`) | ||
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| # Default to a release build. If you want to enable debugging flags, run | ||
| # "make BUILD_TYPE=Debug" | ||
| ifeq "$(BUILD_TYPE)" "" | ||
| BUILD_TYPE="Release" | ||
| endif | ||
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| all: pod-build/Makefile | ||
| $(MAKE) -C pod-build all install | ||
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| pod-build/Makefile: | ||
| $(MAKE) configure | ||
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| .PHONY: configure | ||
| configure: | ||
| @echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n" | ||
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| # create the temporary build directory if needed | ||
| @mkdir -p pod-build | ||
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| # run CMake to generate and configure the build scripts | ||
| @cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \ | ||
| -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) .. | ||
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| clean: | ||
| -if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi | ||
| -if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi | ||
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| # other (custom) targets are passed through to the cmake-generated Makefile | ||
| %:: | ||
| $(MAKE) -C pod-build $@ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
|
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||
| # Note: make will automatically delete intermediate files (google "make chains of implicit rules") | ||
|
|
||
| CC = gcc | ||
| CXX = g++ | ||
| PKG_CONFIG_PATH := ${PKG_CONFIG_PATH}:$(shell pwd)/thirdParty | ||
|
|
||
| LCMFILES = $(shell find . -iname "*.lcm" | tr "\n" " " | sed "s|\./||g") | ||
| SUBDIRS:=$(shell grep -v "^\#" tobuild.txt) | ||
|
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||
| LCM_CFILES = $(LCMFILES:%.lcm=%.c) | ||
| LCM_CFLAGS = $(shell pkg-config --cflags lcm) | ||
| LCM_LDFLAGS = $(shell pkg-config --libs lcm) | ||
| EIGEN_CFLAGS = $(shell pkg-config --cflags eigen3) | ||
|
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||
| #CFILES = $(LCM_CFILES) | ||
| LCM_JAVAFILES = $(LCMFILES:%.lcm=%.java) | ||
| OTHER_JAVAFILES = util/MyLCMTypeDatabase.java util/MessageMonitor.java util/CoordinateFrameData.java util/LCMCoder.java util/Transform.java | ||
| JAVAFILES = $(LCM_JAVAFILES) $(OTHER_JAVAFILES) | ||
|
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||
| OBJFILES = $(LCM_CFILES:%.c=%.o) | ||
| CLASSFILES = $(JAVAFILES:%.java=%.class) | ||
| EXTRACLASSFILES = util/MyLCMTypeDatabase*MyClassVisitor.class | ||
|
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| MATLAB = $(shell which matlab) | ||
|
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| all: matlab_config java c | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir all || exit 2; \ | ||
| done | ||
|
|
||
| debug: CXX += -g | ||
| debug: CC += -g | ||
| debug: matlab_config java c | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir debug || exit 2; \ | ||
| done | ||
|
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| doxygen : | ||
| doxygen doc/Doxyfile | ||
|
|
||
| java : drake.jar | ||
|
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| c : drake.a | ||
|
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| matlab_config : util/drake_config.mat .matlabroot | ||
|
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| util/drake_config.mat .matlabroot : configure.m | ||
| matlab -nosplash -nodesktop -r "configure;exit"; | ||
| # todo: consider using configure(struct('autoconfig',true)) | ||
|
|
||
| drake.jar : $(CLASSFILES) | ||
| cd ..; jar -cf drake/drake.jar $(CLASSFILES:%=drake/%) $(EXTRACLASSFILES:%=drake/%) | ||
|
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| drake.a : $(OBJFILES) | ||
| ar rc $@ $^ | ||
|
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| .INTERMEDIATE : $(OBJFILES) $(CLASSFILES) | ||
| .PRECIOUS : $(LCMFILES) $(OTHER_JAVAFILES) | ||
|
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| util/LCMCoder.class : util/LCMCoder.java util/CoordinateFrameData.class | ||
| javac $< -cp $(CLASSPATH):$(shell pwd)/../ | ||
|
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| %.class : %.java | ||
| javac $< | ||
|
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| %.o : %.c | ||
| $(CC) -c -I include/ $< -o $@ $(LCM_CFLAGS) $(EIGEN_CFLAGS) | ||
|
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| %.c : %.lcm | ||
| @if grep -i package $< ; then echo "\n *** ERROR: $< has a package specified. Don't do that. *** \n"; exit 1; fi | ||
| lcm-gen -c --c-cpath="$(shell echo $< | sed "s|/[A-Za-z0-9_]*\.lcm|/|")" --c-hpath="include/" $< | ||
|
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| %.java : %.lcm | ||
| @if grep -i package $< ; then echo "\n *** ERROR: $< has a package specified. Don't do that. *** \n"; exit 1; fi | ||
| lcm-gen -j --jdefaultpkg="drake.$(shell echo $< | sed "s|/[A-Za-z0-9._]*\.lcm||g" | tr "/" ".")" --jpath=".." $< | ||
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| clean : | ||
| -rm -f drake.jar drake.a $(LIBS) $(LCM_HFILES) $(LCM_CFILES) $(OBJFILES) $(LCM_JAVAFILES) $(CLASSFILES) $(EXTRACLASSFILES) | ||
| -rm -rf doc/DoxygenMatlab/html | ||
| @for subdir in $(SUBDIRS); do \ | ||
| echo "\n-------------------------------------------"; \ | ||
| echo "-- $$subdir"; \ | ||
| echo "-------------------------------------------"; \ | ||
| $(MAKE) -C $$subdir clean; \ | ||
| done | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| cmake_minimum_required(VERSION 2.6.0) | ||
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