Merge pull request RobotLocomotion#1260 from RussTedrake/rdeits-rd-lc…

…mtypes-path

Rdeits rd lcmtypes path

CMakeLists.txt

@@ -74,7 +74,7 @@ set(gurobi_GIT_TAG beb0a84a1bcca1eb81a1b87d9fa140f2134d97e9)
 set(iris_GIT_REPOSITORY https://github.com/rdeits/iris-distro.git)
 set(iris_GIT_TAG 13468e0ea38e72ffae030adaa31e3015ea5f3ce0)
 set(lcm_GIT_REPOSITORY https://github.com/RobotLocomotion/lcm-pod.git)
-set(lcm_GIT_TAG f072e9a54ae168503de8f9b96a70205d56ff5788) # cmake branch 
+set(lcm_GIT_TAG 31e9a3e2dd056cac749fc2879e841434181180ad) # cmake branch 
 set(libbot_GIT_REPOSITORY https://github.com/RobotLocomotion/libbot.git)
 set(libbot_GIT_TAG c328b73f3b48008d04468031e26f48468a7e3cc0)
 set(mosek_GIT_REPOSITORY https://github.com/RobotLocomotion/mosek.git)

drake/solvers/CMakeLists.txt

@@ -5,53 +5,55 @@ pods_find_pkg_config(gurobi)
 
 if (gurobi_FOUND)
 
-	add_library(drakeQP QP.cpp)
-	set_target_properties(drakeQP PROPERTIES COMPILE_FLAGS -fPIC)
-	pods_use_pkg_config_packages(drakeQP gurobi)
-
-	if (MATLAB_FOUND)
-		add_mex(fastQPmex fastQPmex.cpp)
-		target_link_libraries(fastQPmex drakeQP)
-		add_mex(gurobiQPmex gurobiQPmex.cpp)
-		target_link_libraries(gurobiQPmex drakeQP)
-	endif()
-
-	pods_install_libraries(drakeQP)
-	pods_install_headers(fastQP.h gurobiQP.h DESTINATION drake)
-	pods_install_pkg_config_file(drake-qp
-	    LIBS -ldrakeQP
-	    REQUIRES gurobi
-	    VERSION 0.0.1)
+  add_library(drakeQP QP.cpp)
+  set_target_properties(drakeQP PROPERTIES COMPILE_FLAGS -fPIC)
+  pods_use_pkg_config_packages(drakeQP gurobi)
+
+  if (MATLAB_FOUND)
+    add_mex(fastQPmex fastQPmex.cpp)
+    target_link_libraries(fastQPmex drakeQP)
+    add_mex(gurobiQPmex gurobiQPmex.cpp)
+    target_link_libraries(gurobiQPmex drakeQP)
+  endif()
+
+  pods_install_libraries(drakeQP)
+  pods_install_headers(fastQP.h gurobiQP.h DESTINATION drake)
+  pods_install_pkg_config_file(drake-qp
+    LIBS -ldrakeQP
+    REQUIRES gurobi
+    VERSION 0.0.1)
 
 endif()
 
 pods_find_pkg_config(snopt_c)
 
-add_mex(lqrmex lqrmex.cpp)
-target_link_libraries(lqrmex drakeUtil)
+if(MATLAB_FOUND)
+  add_mex(lqrmex lqrmex.cpp)
+  target_link_libraries(lqrmex drakeUtil)
+endif()
 
 if(snopt_c_FOUND AND MATLAB_FOUND)
-	add_mex(NonlinearProgramSnoptmex NonlinearProgramSnoptmex.cpp)
+  add_mex(NonlinearProgramSnoptmex NonlinearProgramSnoptmex.cpp)
   pods_use_pkg_config_packages(NonlinearProgramSnoptmex snopt_c)
   set_target_properties(NonlinearProgramSnoptmex PROPERTIES COMPILE_FLAGS -fPIC)
 
-  	# link against matlab's copy of the gfortran library, if possible
-	find_library(GFORTRAN_LIBRARY NAMES gfortran libgfortran
-	  PATHS "${MATLAB_ROOT}/sys/os/"
-		PATH_SUFFIXES glnxa64/ maci64/ NO_DEFAULT_PATH )
-	if (NOT GFORTRAN_LIBRARY)
-		# the above does not seem work on linux out of the box, because matlab
-		# symlinks to libgfortran.so.3 but not to libgfortran.so, and cmake isn't
-		# able to find it with the default CMAKE_FIND_LIBRARY_SUFFIXES.  Instead
-		# of setting that variable, here is the annoying work-around:
-		find_file(GFORTRAN_LIBRARY NAMES libgfortran.so.3
-			PATHS "${MATLAB_ROOT}/sys/os/"
-			PATH_SUFFIXES glnxa64/ maci64/ NO_DEFAULT_PATH)
-	endif()
-
-	if (GFORTRAN_LIBRARY)
-	  target_link_libraries(NonlinearProgramSnoptmex ${GFORTRAN_LIBRARY})
-	endif()
+  # link against matlab's copy of the gfortran library, if possible
+  find_library(GFORTRAN_LIBRARY NAMES gfortran libgfortran
+    PATHS "${MATLAB_ROOT}/sys/os/"
+    PATH_SUFFIXES glnxa64/ maci64/ NO_DEFAULT_PATH )
+  if (NOT GFORTRAN_LIBRARY)
+    # the above does not seem work on linux out of the box, because matlab
+    # symlinks to libgfortran.so.3 but not to libgfortran.so, and cmake isn't
+    # able to find it with the default CMAKE_FIND_LIBRARY_SUFFIXES.  Instead
+    # of setting that variable, here is the annoying work-around:
+    find_file(GFORTRAN_LIBRARY NAMES libgfortran.so.3
+      PATHS "${MATLAB_ROOT}/sys/os/"
+      PATH_SUFFIXES glnxa64/ maci64/ NO_DEFAULT_PATH)
+  endif()
+
+  if (GFORTRAN_LIBRARY)
+    target_link_libraries(NonlinearProgramSnoptmex ${GFORTRAN_LIBRARY})
+  endif()
 endif()
 
 add_subdirectory(qpSpline)

drake/systems/controllers/CMakeLists.txt

@@ -1,10 +1,6 @@
 include_directories(${PROJECT_SOURCE_DIR}/systems/robotInterfaces)
 include_directories(${PROJECT_SOURCE_DIR}/util/test)
 
-if (LCM_FOUND)
-  include_directories (${CMAKE_BINARY_DIR}/lcmgen/lcmtypes )
-endif()
-
 add_library(drakeControlUtil SHARED controlUtil.cpp)
 pods_find_pkg_config(terrain-map)
 if (terrain-map_FOUND)

drake/systems/controllers/QPCommon.cpp

@@ -6,7 +6,7 @@
 #include <lcm/lcm-cpp.hpp>
 #include "lcmUtil.h"
 #include "testUtil.h"
-#include "drake/lcmt_zmp_com_observer_state.hpp"
+#include "lcmtypes/drake/lcmt_zmp_com_observer_state.hpp"
 
 const bool CHECK_CENTROIDAL_MOMENTUM_RATE_MATCHES_TOTAL_WRENCH = false;
 const bool PUBLISH_ZMP_COM_OBSERVER_STATE = true;

drake/systems/controllers/QPCommon.h

@@ -4,7 +4,7 @@
 #include "controlUtil.h"
 #include "drakeUtil.h"
 #include "fastQP.h"
-#include "drake/lcmt_qp_controller_input.hpp"
+#include "lcmtypes/drake/lcmt_qp_controller_input.hpp"
 #include "ExponentialPlusPiecewisePolynomial.h"
 #include <vector>
 #include "ForceTorqueMeasurement.h"

drake/systems/controllers/zmpCoMObserverStateVisualizer.cpp

@@ -1,6 +1,6 @@
 #include <lcm/lcm.h>
 #include <bot_lcmgl_client/lcmgl.h>
-#include "drake_lcmt_zmp_com_observer_state.h"
+#include "lcmtypes/drake_lcmt_zmp_com_observer_state.h"
 
 bot_lcmgl_t* lcmgl;
 

drake/systems/robotInterfaces/CMakeLists.txt

@@ -4,7 +4,6 @@ include_directories (${PROJECT_SOURCE_DIR}/systems/controllers )
 include_directories (${PROJECT_SOURCE_DIR}/systems/plants )
 include_directories (${PROJECT_SOURCE_DIR}/systems/plants/joints )
 include_directories (${PROJECT_SOURCE_DIR}/solvers/qpSpline )
-include_directories (${PROJECT_BINARY_DIR}/lcmgen/lcmtypes )
 include_directories (${PROJECT_SOURCE_DIR}/examples/Atlas)
 
 add_library(drakeSide SHARED Side.cpp)

drake/systems/robotInterfaces/QPLocomotionPlan.h

@@ -9,7 +9,7 @@
 #include "PiecewisePolynomial.h"
 #include "ExponentialPlusPiecewisePolynomial.h"
 #include "RigidBodyManipulator.h"
-#include "drake/lcmt_qp_controller_input.hpp"
+#include "lcmtypes/drake/lcmt_qp_controller_input.hpp"
 #include "BodyMotionData.h"
 #include "Side.h"
 #include <lcm/lcm-cpp.hpp>

drake/util/CMakeLists.txt

@@ -1,5 +1,3 @@
-include_directories (${PROJECT_BINARY_DIR}/lcmgen/lcmtypes )
-
 if (simulink_FOUND)
   add_mex(realtime realtime.cpp)
   endif()
@@ -51,7 +49,6 @@ if (LCM_FOUND)
   # note: requires drakeUtil header file, but not linking against it because
   # we only need methods that are templated and defined in the header
   include_directories (${PROJECT_SOURCE_DIR}/systems/trajectories )
-  include_directories (${PROJECT_BINARY_DIR}/lcmgen/lcmtypes )
   add_library(drakeLCMUtil SHARED lcmUtil.cpp)
   add_dependencies(drakeLCMUtil ${LCMTYPES_C_LIBRARY})
   target_link_libraries(drakeLCMUtil drakeTrajectories)

drake/util/lcmUtil.h

@@ -4,10 +4,10 @@
 #include <Eigen/Core>
 #include <iostream>
 #include "PiecewisePolynomial.h"
-#include "drake/lcmt_polynomial.hpp"
-#include "drake/lcmt_polynomial_matrix.hpp"
-#include "drake/lcmt_piecewise_polynomial.hpp"
-#include "drake/lcmt_qp_controller_input.hpp"
+#include "lcmtypes/drake/lcmt_polynomial.hpp"
+#include "lcmtypes/drake/lcmt_polynomial_matrix.hpp"
+#include "lcmtypes/drake/lcmt_piecewise_polynomial.hpp"
+#include "lcmtypes/drake/lcmt_qp_controller_input.hpp"
 
 #undef DLLEXPORT
 #if defined(WIN32) || defined(WIN64)

drake/util/test/CMakeLists.txt

@@ -5,7 +5,6 @@
 
 include_directories(..)
 include_directories(${PROJECT_SOURCE_DIR}/systems/trajectories)
-include_directories(${PROJECT_BINARY_DIR}/lcmgen/lcmtypes)
 
 if (NOT WIN32)
   # doesn't work because the timing tests require the <chrono> include