merge to one single catkin package with one high-level CMakeLists.txt

CMakeLists.txt

@@ -1,10 +1,91 @@
-# At LEAST 2.8 but newer is better
 cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
 project(ifopt)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+find_package(Eigen3 REQUIRED)
+find_package(catkin QUIET) # optional: allows to be found in catkin workspace  
+find_package(GTest  QUIET) # optional: enables/disables testing
+
+
+################
+## Find IPOPT ##
+################
+# adapt this to point to your installed IPOPT folder
+set(IPOPT_DIR "/home/winklera/3rd_party_software/Ipopt-3.12.8")
+if(IS_DIRECTORY ${IPOPT_DIR}/build/include/coin)
+  set(IFOPT_IPOPT_LIB ifopt_ipopt)
+  set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/build/include/coin)
+  find_library(IPOPT_LIB ipopt ${IPOPT_DIR}/build/lib)
+else()
+  message(WARNING "IPOPT directory \"" ${IPOPT_DIR} "\" NOT found " 
+                  "-> Not compiling ifopt_ipopt. \n" 
+                  "Specify path to your installed IPOPT installation here.")
+endif()
+
+
+################
+## Find SNOPT ##
+################
+# adapt this to point to your installed IPOPT folder
+set(SNOPT_DIR "/home/winklera/3rd_party_software/snopt_lib")
+set(SNOPT76 FALSE) # set to TRUE if using Snopt 7.6 or greater
+if(IS_DIRECTORY ${SNOPT_DIR}/include)
+  set(IFOPT_SNOPT_LIB ifopt_snopt)
+  set(SNOPT_INCLUDE_DIRS ${SNOPT_DIR}/include)
+  find_library(SNOPT_LIB1 snopt7_cpp ${SNOPT_DIR}/lib)
+  find_library(SNOPT_LIB2 snopt7 ${SNOPT_DIR}/lib)
+
+  if(${SNOPT76})
+    message("SNOPT version >= SNOPT 7.6 detected")
+  endif()
+else()
+  message(WARNING "SNOPT directory \"" ${SNOPT_DIR} "\" NOT found "
+                  "-> Not compiling ifopt_snopt.\n" 
+                  "Specify path to your installed SNOPT installation here.")
+endif()
+
+
+##############################################
+## catkin specific configuration (optional) ##
+##############################################
+# This can then be used to "find_package(ifopt)" if built with catkin
+if (catkin_FOUND)
+catkin_package(
+  INCLUDE_DIRS ifopt_core/include
+               ifopt_ipopt/include ${IPOPT_INCLUDE_DIRS}
+               ifopt_snopt/include ${SNOPT_INCLUDE_DIRS}
+               ${EIGEN3_INCLUDE_DIR}
+
+  LIBRARIES    ifopt_core
+               ${IFOPT_IPOPT_LIB} ${IPOPT_LIB}
+               ${IFOPT_SNOPT_LIB} ${SNOPT_LIB1} ${SNOPT_LIB2}
+
+  DEPENDS      eigen  
+)
+endif()
+
+
+###########
+## Build ##
+###########
+# Default to Release build
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to 'Release' as none was specified.")
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
 
 add_subdirectory(ifopt_core)
 
-add_subdirectory(ifopt_ipopt)
-add_subdirectory(ifopt_snopt)
+if (IFOPT_IPOPT_LIB)
+  add_subdirectory(ifopt_ipopt)
+endif()
+
+if (IFOPT_SNOPT_LIB)
+  add_subdirectory(ifopt_snopt)
+endif()
+
+
+
+

ifopt_core/CMakeLists.txt

@@ -1,24 +1,10 @@
 cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
 project(ifopt_core)
 
-
-#find_package(catkin REQUIRED)
-find_package(Eigen3 REQUIRED)
-
-
-###################################
-## catkin specific configuration ##
-###################################
-#catkin_package(
-#  INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIR}
-#  LIBRARIES    ${PROJECT_NAME}
-#)
-
-
 ###########
 ## Build ##
 ###########
-add_library(${PROJECT_NAME} STATIC
+add_library(${PROJECT_NAME} SHARED
   src/problem.cc
   src/composite.cc
   src/leaves.cc
@@ -50,25 +36,11 @@ target_compile_options(${PROJECT_NAME} PUBLIC -std=c++11)
 #############
 ## Testing ##
 #############
-#if (CATKIN_ENABLE_TESTING)
-#catkin_add_gtest(${PROJECT_NAME}-test
-#                 test/gtest_main.cc
-#                 test/composite_test.cc
-#                 test/problem_test.cc)
-#if(TARGET ${PROJECT_NAME}-test)
-#  target_link_libraries(${PROJECT_NAME}-test 
-#    ${PROJECT_NAME}
-#    pthread
-#  )
-#endif()
-#endif()
-
-
-find_package(GTest QUIET)
 if (GTEST_FOUND)
   message(STATUS "GTest found -> Building IFOPT test executable \"testifopt\"")
   add_executable(testifopt test/composite_test.cc
-                                     test/problem_test.cc)
+                           test/problem_test.cc)
 
-  target_link_libraries(testifopt PRIVATE ${PROJECT_NAME} GTest::GTest GTest::Main)
+  target_link_libraries(testifopt PRIVATE 
+    ${PROJECT_NAME} GTest::GTest GTest::Main)
 endif()

ifopt_ipopt/CMakeLists.txt

@@ -1,56 +1,21 @@
 cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
 project(ifopt_ipopt)
 
-#find_package(catkin REQUIRED)
-
-
-################
-## Find IPOPT ##
-################
-# adapt this to point to your installed IPOPT folder
-set(IPOPT_DIR "/home/winklera/3rd_party_software/Ipopt-3.12.8")
-if(IS_DIRECTORY ${IPOPT_DIR}/build/include/coin)
-  set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/build/include/coin)
-  set(IPOPT_LIBRARIES    ${IPOPT_DIR}/build/lib/libipopt.so)
-else()
-  message(WARNING "IPOPT directory \"" ${IPOPT_DIR} "\" NOT found " 
-                  "-> Not compiling ifopt_ipopt. \n" 
-                  "Specify path to your installed IPOPT installation here.")
-  return()
-endif()
-
-
-#################################
-## Generate cmake config files ##
-#################################
-# These can then be used to "find_package(ifopt_ipopt)"
-#catkin_package(
-#  INCLUDE_DIRS include ${IPOPT_INCLUDE_DIRS} ${ifopt_core_INCLUDE_DIRS}
-#  LIBRARIES    ${PROJECT_NAME}
-#)
-
-
 ###########
 ## Build ##
 ###########
 # The IPOPT solver interface
-add_library(${PROJECT_NAME} STATIC src/ipopt_adapter.cc)
-target_include_directories(${PROJECT_NAME} PUBLIC 
+add_library(${PROJECT_NAME} SHARED src/ipopt_adapter.cc)
+target_include_directories(${PROJECT_NAME} PUBLIC
   include
   ${IPOPT_INCLUDE_DIRS}
-  ${ifopt_core_INCLUDE_DIRS}
 )
 
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  ifopt_core
-  ${IPOPT_LIBRARIES}
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC  ifopt_core
+  PRIVATE ${IPOPT_LIB}
 )
 
-#target_link_libraries(${PROJECT_NAME} PUBLIC
-#  ${ifopt_core_LIBRARIES}
-#  ${IPOPT_LIBRARIES}
-#)
-
 
 #############
 ## Install ##
@@ -76,10 +41,10 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
 #############
 ## Testing ##
 #############
-find_package(GTest QUIET)
 if (GTEST_FOUND)
   message(STATUS "GTest found -> Building IPOPT test executable \"testipopt\"")
   add_executable(testipopt test/ex_test_ipopt.cc)
 
-  target_link_libraries(testipopt PRIVATE ${PROJECT_NAME} GTest::GTest GTest::Main)
+  target_link_libraries(testipopt PRIVATE 
+    ${PROJECT_NAME} GTest::GTest GTest::Main)
 endif()