CMakeLists.txt

# Copyright (c) 2017, Alexander W. Winkler, ETH Zurich. All rights reserved.
cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
project(ifopt VERSION 2.0.6)

if(WIN32)
  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
endif()

###########
## Build ##
###########
include(GNUInstallDirs) # for correct library locations across platforms
set(config_package_location "share/${PROJECT_NAME}/cmake") # for .cmake find-scripts installs
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)             # so installed solver libraries link to IFOPT/SNOPT                                          
set(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)    # so installed solver libraries link to libifopt_core.so  
set(IFOPT_INSTALL_BINDIR ${CMAKE_INSTALL_LIBDIR}/ifopt) # replicate default for catkin installs

IF(NOT CMAKE_BUILD_TYPE MATCHES Release)
  message(STATUS "CMAKE_BUILD_TYPE not set to Release -> impacts performance")
endif()

if(NOT DEFINED BUILD_SHARED_LIBS)
  set(BUILD_SHARED_LIBS ON)
endif()

enable_testing()
set(LIB_CORE ifopt_core)
add_subdirectory(ifopt_core)

option(BUILD_IPOPT "compile with IPOPT solver" ON)
if (BUILD_IPOPT)
  add_subdirectory(ifopt_ipopt)
endif()

option(BUILD_SNOPT "compile with SNOPT solver" OFF)
if (BUILD_SNOPT)
  add_subdirectory(ifopt_snopt)
endif()


##################################################
## Install find scripts for find_package(ifopt) ##
##################################################
# generate the file IfoptConfigVersion.cmake
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
  "${CMAKE_CURRENT_BINARY_DIR}/ifopt-config-version.cmake"
  VERSION ${ifopt_VERSION}
  COMPATIBILITY SameMajorVersion
)
# install the two files in a place where cmake looks for them
install(
  FILES 
    "${CMAKE_CURRENT_SOURCE_DIR}/ifopt-config.cmake"         # self-written
    "${CMAKE_CURRENT_BINARY_DIR}/ifopt-config-version.cmake" # generated
  DESTINATION ${config_package_location}
)
# Install a Catkin 'package.xml' file. This is required by REP-136.
install(FILES package.xml DESTINATION share/${PROJECT_NAME})