From 122578348c0a425aaa7426c77cc951a677cc78b7 Mon Sep 17 00:00:00 2001
From: Jennifer Buehler <jennifer.e.buehler@gmail.com>
Date: Thu, 3 Mar 2016 14:50:37 +0100
Subject: [PATCH] changes in cmake files required for bloom-release

---
 CMakeLists.txt | 68 ++++++++++++++++++++++++++++++++++++--------------
 package.xml    | 29 ++++++++++-----------
 2 files changed, 62 insertions(+), 35 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f02449ed25..0a97509629 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,10 @@ if (NOT BUILD_STATIC_LIB)
     set (BUILD_STATIC_LIB false)
 endif (NOT BUILD_STATIC_LIB)
 
+if (NOT SKIP_SHARED_LIB)
+    set (SKIP_SHARED_LIB false)
+endif (NOT SKIP_SHARED_LIB)
+
 set (GRASPIT_DEFINES 
     -DGRASPIT_RELEASE  
     #-DGRASPIT_DEBUG 
@@ -110,6 +114,8 @@ set (GRASPIT_INCLUDEDIR_HEADERS
     ${GSRC}/include/gws.h 
     ${GSRC}/include/gwsprojection.h 
     ${GSRC}/include/ivmgr.h 
+    ${GSRC}/include/ivmgr_abstract.h 
+    ${GSRC}/include/ivmgr_nogui.h 
     ${GSRC}/include/jacobian.h 
     ${GSRC}/include/joint.h 
     ${GSRC}/include/kinematicChain.h 
@@ -307,6 +313,7 @@ set (MOC_HEADERS
 
 
 set (GRASPIT_CORE_SOURCES
+    ${GSRC}/src/debug.cpp 
     ${GSRC}/src/graspitParser.cpp 
     ${GSRC}/src/arch.cpp 
     ${GSRC}/src/robots/barrett.cpp 
@@ -336,6 +343,7 @@ set (GRASPIT_CORE_SOURCES
     ${GSRC}/src/gws.cpp 
     ${GSRC}/src/gwsprojection.cpp 
     ${GSRC}/src/ivmgr.cpp 
+    ${GSRC}/src/ivmgr_nogui.cpp 
     ${GSRC}/src/jacobian.cpp 
     ${GSRC}/src/joint.cpp 
     ${GSRC}/src/kinematicChain.cpp 
@@ -714,10 +722,12 @@ set (GRASPIT_LIBRARY_SOURCES
     ${UI_OUTFILES}
     ${MOC_OUTFILES}
 )
-## Declare a C++ library
-add_library(graspit SHARED
-    ${GRASPIT_LIBRARY_SOURCES} 
-)
+
+if (NOT SKIP_SHARED_LIB)
+    add_library(graspit SHARED
+        ${GRASPIT_LIBRARY_SOURCES} 
+    )
+endif (NOT SKIP_SHARED_LIB)
 
 #add_library(graspit_qt_image_collection
 #    SHARED
@@ -734,6 +744,9 @@ if(BUILD_STATIC_LIB)
     target_compile_options(graspit_static PRIVATE -fPIC)
 endif(BUILD_STATIC_LIB)
 
+
+## Make simulator executable
+
 # sources for executable graspit_simulator
 set(SIMULATOR_SRC ${GSRC}/src/main.cpp)
 
@@ -751,10 +764,11 @@ if (BUILD_STATIC_LIB)
 endif (BUILD_STATIC_LIB)
 
 
-## Make simulator executable
-add_executable(graspit_simulator 
-    ${SIMULATOR_SRC}
-)
+if (NOT SKIP_SHARED_LIB OR BUILD_STATIC_LIB)
+    add_executable(graspit_simulator 
+        ${SIMULATOR_SRC}
+    )
+endif (NOT SKIP_SHARED_LIB OR BUILD_STATIC_LIB)
 
 ## System libraries which are needed for graspit
 set(GRASPIT_LINK_LIBRARIES
@@ -766,15 +780,21 @@ set(GRASPIT_LINK_LIBRARIES
 )
 
 
-target_link_libraries(graspit
-   ${GRASPIT_LINK_LIBRARIES}
-)
+if (NOT SKIP_SHARED_LIB)
+    target_link_libraries(graspit
+       ${GRASPIT_LINK_LIBRARIES}
+    )
+endif (NOT SKIP_SHARED_LIB)
 
+# link the libraries: If a static lib is built, use this one.
+# otherwise, use the shared lib.
 if(BUILD_STATIC_LIB)
     target_link_libraries(graspit_static ${GRASPIT_LINK_LIBRARIES})
     target_link_libraries(graspit_simulator ${GRASPIT_LINK_LIBRARIES})
 else(BUILD_STATIC_LIB)
-    target_link_libraries(graspit_simulator graspit)
+    if (NOT SKIP_SHARED_LIB)
+        target_link_libraries(graspit_simulator graspit ${GRASPIT_LINK_LIBRARIES})
+    endif(NOT SKIP_SHARED_LIB)
 endif(BUILD_STATIC_LIB)
 
 
@@ -804,8 +824,16 @@ endif (catkin_FOUND)
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
+    
+set(INSTALL_BINS graspit_simulator)
+
+if (NOT SKIP_SHARED_LIB)
+    set(INSTALL_BINS ${INSTALL_BINS} graspit)
+endif (NOT SKIP_SHARED_LIB)
+
+
 ## Mark executables and/or libraries for installation
-install(TARGETS graspit graspit_simulator
+install(TARGETS ${INSTALL_BINS} 
    ARCHIVE DESTINATION ${LIB_DESTINATION}
    LIBRARY DESTINATION ${LIB_DESTINATION}
    RUNTIME DESTINATION ${BIN_DESTINATION}
@@ -881,13 +909,15 @@ endif (PLY)
 
 # Generate and install configuration files for libraries:
 
-install(TARGETS
-    graspit 
-    EXPORT graspit-lib-targets
-    DESTINATION ${LIB_DESTINATION})
+if (NOT SKIP_SHARED_LIB)
+    install(TARGETS
+        graspit 
+        EXPORT graspit-lib-targets
+        DESTINATION ${LIB_DESTINATION})
 
-install(EXPORT graspit-lib-targets
-    DESTINATION ${LIB_DESTINATION})
+    install(EXPORT graspit-lib-targets
+        DESTINATION ${LIB_DESTINATION})
+endif (NOT SKIP_SHARED_LIB)
 
 if(BUILD_STATIC_LIB)
     install(TARGETS
diff --git a/package.xml b/package.xml
index ec944083af..3ff107ea66 100644
--- a/package.xml
+++ b/package.xml
@@ -15,29 +15,26 @@
 
     <buildtool_depend>catkin</buildtool_depend>
 
-    <build_depend>libblas-dev</build_depend>
-    <build_depend>liblapack-dev</build_depend>
+    <build_depend>libsoqt4-dev</build_depend>
+    <!--build_depend>household_objects_database</build_depend-->
+    <build_depend>libqt4</build_depend>
     <build_depend>libqt4-dev</build_depend>
-    <build_depend>libqt4-opengl-dev</build_depend>
+    <build_depend>libqt4-opengl</build_depend>
     <build_depend>libqt4-sql-psql</build_depend>
-    <build_depend>libcoin80-dev</build_depend>
-    <build_depend>libsoqt4-dev</build_depend>
     <build_depend>libqhull</build_depend>
-    <build_depend>subversion</build_depend>
-
-    <build_depend>household_objects_database</build_depend>
+    <build_depend>libcoin80-dev</build_depend>
+    <build_depend>libblas-dev</build_depend>
+    <build_depend>liblapack-dev</build_depend>
 
+    <run_depend>libsoqt4-dev</run_depend>
+    <run_depend>household_objects_database</run_depend>
     <run_depend>libqt4</run_depend>
+    <run_depend>libqt4-dev</run_depend>
     <run_depend>libqt4-opengl</run_depend>
     <run_depend>libqt4-sql-psql</run_depend>
     <run_depend>libqhull</run_depend>
+    <run_depend>libcoin80-dev</run_depend>
+    <run_depend>libblas-dev</run_depend>
+    <run_depend>liblapack-dev</run_depend>
 
-    <!-- The following libraries do not have run-time version in rosdep:
-    <run_depend>libblas</run_depend>
-    <run_depend>liblapack</run_depend>
-    <run_depend>libcoin80</run_depend>
-    <run_depend>libsoqt4</run_depend>
-    -->
-
-    <run_depend>household_objects_database</run_depend>
 </package>