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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(drake-superbuild VERSION 0.0.0)
include(CTest)
include(cmake/config.cmake)
include(cmake/externals.cmake)
include(cmake/examples.cmake)
include(cmake/options.cmake)
include(cmake/package.cmake)
include(cmake/tools.cmake)
include(cmake/git/hooks.cmake)
drake_setup_superbuild()
drake_setup_platform()
drake_setup_tools_superbuild()
drake_setup_git_hooks()
drake_setup_options()
###############################################################################
# BEGIN external projects
# External projects in order of dependencies; 'trivial' ones first
drake_add_external(avl PUBLIC CMAKE FORTRAN)
drake_add_external(meshconverters PUBLIC CMAKE)
drake_add_external(qt_property_browser CMAKE QT)
drake_add_external(sedumi PUBLIC CMAKE MATLAB)
drake_add_external(spotless PUBLIC CMAKE MATLAB)
drake_add_external(xfoil PUBLIC CMAKE FORTRAN)
drake_add_external(yalmip PUBLIC CMAKE MATLAB)
# eigen
# N.B. See #5785; do your best not to have to bump this to a newer commit.
drake_add_external(eigen PUBLIC CMAKE
URL https://bitbucket.org/eigen/eigen/get/3.3.3.tar.gz
URL_HASH SHA256=94878cbfa27b0d0fbc64c00d4aafa137f678d5315ae62ba4aecddbd4269ae75f
CMAKE_ARGS
-DEIGEN_TEST_NO_OPENGL=ON
-DEIGEN_TEST_NOQT=ON)
# spdlog
drake_add_external(spdlog PUBLIC CMAKE
DEPENDS fmt)
# bullet
drake_add_external(bullet PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DBUILD_BULLET2_DEMOS=OFF
-DBUILD_CPU_DEMOS=OFF
-DBUILD_EXTRAS=OFF
-DBUILD_OPENGL3_DEMOS=OFF
-DBUILD_UNIT_TESTS=OFF
-DCMAKE_DEBUG_POSTFIX=
-DCMAKE_MINSIZEREL_POSTFIX=
-DCMAKE_RELWITHDEBINFO_POSTFIX=
-DINSTALL_LIBS=ON
-DPKGCONFIG_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig
-DUSE_DOUBLE_PRECISION=ON)
# ccd
drake_add_external(ccd PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DBUILD_TESTING=OFF
-DENABLE_DOUBLE_PRECISION=ON)
# fmt
drake_add_external(fmt PUBLIC CMAKE ALWAYS
CMAKE_ARGS
-DFMT_DOC=OFF
-DFMT_TEST=OFF)
# gflags
drake_add_external(gflags PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DGFLAGS_BUILD_gflags_nothreads_LIB=OFF)
# googletest
drake_add_external(googletest PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DCMAKE_INSTALL_NAME_DIR=${CMAKE_INSTALL_PREFIX}/lib)
# google_styleguide
drake_add_external(google_styleguide PUBLIC PYTHON
BUILD_COMMAND :)
# gurobi
drake_add_external(gurobi CMAKE MATLAB
CMAKE_ARGS
-DBUILD_TESTING=OFF
-DWITH_CPP=ON
-DWITH_MATLAB=${Matlab_FOUND}
-DWITH_PYTHON=OFF)
# ipopt
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# Work around horrific clang* = clang, */cl* = msvc bug in BuildTools/coin.m4
get_filename_component(IPOPT_C_COMPILER "${CMAKE_C_COMPILER}" NAME)
get_filename_component(IPOPT_CXX_COMPILER "${CMAKE_CXX_COMPILER}" NAME)
else()
set(IPOPT_C_COMPILER "${CMAKE_C_COMPILER}")
set(IPOPT_CXX_COMPILER "${CMAKE_CXX_COMPILER}")
endif()
drake_add_external(ipopt PUBLIC AUTOTOOLS FORTRAN
AUTOTOOLS_ENV
CC=${IPOPT_C_COMPILER}
CXX=${IPOPT_CXX_COMPILER}
AUTOTOOLS_CONFIGURE_ARGS
--disable-shared
--includedir=${CMAKE_INSTALL_PREFIX}/include/ipopt
--with-blas=BUILD
--with-lapack=BUILD
--with-pic)
# mosek
drake_add_external(mosek PUBLIC CMAKE MATLAB
CMAKE_ARGS
-DBUILD_TESTING=OFF
-DWITH_MATLAB=${Matlab_FOUND}
-DWITH_PYTHON=OFF)
# nlopt
drake_add_external(nlopt PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DBUILD_PYTHON=OFF
-DBUILD_OCTAVE=OFF
-DBUILD_MATLAB=OFF
-DBUILD_GUILE=OFF
-DINSTALL_INCLUDE_DIR=${CMAKE_INSTALL_PREFIX}/include/nlopt
-DUSE_SWIG=OFF)
# protobuf
drake_add_external(protobuf PUBLIC CMAKE ALWAYS
SOURCE_SUBDIR cmake
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-Dprotobuf_BUILD_TESTS=OFF
-Dprotobuf_MODULE_COMPATIBLE=ON)
# pybind11
drake_add_external(pybind11 CMAKE
CMAKE_ARGS
-DPYBIND11_PYTHON_VERSION=${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}
-DPYBIND11_TEST=OFF)
# pythonqt
drake_add_external(pythonqt CMAKE PYTHON QT
CMAKE_ARGS
-DPythonQt_Wrap_Qtcore:BOOL=ON
-DPythonQt_Wrap_Qtgui:BOOL=ON
-DPythonQt_Wrap_Qtuitools:BOOL=ON
)
# snopt
drake_add_external(snopt CMAKE MATLAB
CMAKE_ARGS
-DBUILD_SNOPT_CPP=OFF
-DBUILD_SHARED_LIBS=OFF # For licensing reasons
-DBUILD_TESTING=OFF
-DBUILD_SNOPT_C_MEX=${Matlab_FOUND}
-DCMAKE_POSITION_INDEPENDENT_CODE=ON)
# octomap
drake_add_external(octomap PUBLIC CMAKE
CMAKE_ARGS -DBUILD_TESTING=OFF
SOURCE_SUBDIR octomap)
# vtk
drake_add_external(vtk PUBLIC CMAKE PYTHON QT
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DBUILD_TESTING=OFF
-DBUILD_EXAMPLES=OFF
"-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS} -DGLX_GLXEXT_LEGACY=1"
-DVTK_USE_GUISUPPORT=ON
-DVTK_USE_QT=ON
-DVTK_WRAP_PYTHON=ON
-DVTK_WRAP_TCL=OFF
-DVTK_USE_TK=OFF)
# fcl
drake_add_external(fcl PUBLIC CMAKE
CMAKE_ARGS -DFCL_BUILD_TESTS=OFF
DEPENDS ccd eigen octomap)
# textbook
drake_add_external(textbook PUBLIC CMAKE MATLAB PYTHON
CMAKE_ARGS -DBUILD_TESTING=${Matlab_FOUND}
INSTALL_COMMAND :
SOURCE_DIR ${PROJECT_SOURCE_DIR}/drake/doc/textbook)
# tinyobjloader
drake_add_external(tinyobjloader PUBLIC CMAKE
CMAKE_ARGS
-DTINYOBJLOADER_COMPILATION_SHARED=ON
)
# yaml_cpp
drake_add_external(yaml_cpp PUBLIC CMAKE
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DYAML_CPP_BUILD_CONTRIB=OFF
-DYAML_CPP_BUILD_TOOLS=OFF)
# ctk_python_console
drake_add_external(ctk_python_console CMAKE PYTHON QT
DEPENDS pythonqt)
# iris
drake_add_external(iris PUBLIC CMAKE MATLAB PYTHON
CMAKE_ARGS
-DBUILD_TESTING=OFF
-DIRIS_WITH_CDD=ON
-DIRIS_WITH_EIGEN=OFF
-DIRIS_WITH_MATLAB=${Matlab_FOUND}
-DIRIS_WITH_MOSEK=OFF
-DIRIS_WITH_PYBIND11=OFF
-DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
-DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR}
-DPYTHON_LIBRARY=${PYTHON_LIBRARY}
DEPENDS eigen mosek pybind11)
# ignition_math
drake_add_external(ignition_math PUBLIC CMAKE
URL https://bitbucket.org/ignitionrobotics/ign-math/get/ignition-math3_3.2.0.tar.gz
URL_HASH SHA256=1948c1610fa4403bce7ba2a262a29662990ee66aab00882411a0868afe0e5309
CMAKE_ARGS
-DENABLE_TESTS_COMPILATION=OFF
-DUSE_HOST_CFLAGS=OFF
-DUSE_UPSTREAM_CFLAGS=OFF)
# ignition_rndf
drake_add_external(ignition_rndf PUBLIC CMAKE
URL https://bitbucket.org/ignitionrobotics/ign-rndf/get/ignition-rndf_0.1.2.tar.gz
URL_HASH SHA256=e0aa1489311679639717d3614c7c55edaa5f6de9a78c31ea48ea637bc1ba001a
CMAKE_ARGS
-DENABLE_TESTS_COMPILATION=OFF
-DUSE_HOST_CFLAGS=OFF
-DUSE_UPSTREAM_CFLAGS=OFF
DEPENDS ignition_math)
# lcm
drake_add_external(lcm PUBLIC CMAKE PYTHON
CMAKE_ARGS
-DBUILD_SHARED_LIBS=ON
-DLCM_ENABLE_EXAMPLES=OFF
-DLCM_ENABLE_LUA=OFF
-DLCM_ENABLE_TESTS=OFF
-DLCM_INSTALL_M4MACROS=OFF)
# libbot
drake_add_external(libbot PUBLIC CMAKE PYTHON
DEPENDS lcm)
# bot_core_lcmtypes
drake_add_external(bot_core_lcmtypes PUBLIC CMAKE PYTHON
DEPENDS lcm libbot) # Conflicts with libbot; ensure this is built after
# robotlocomotion_lcmtypes
drake_add_external(robotlocomotion_lcmtypes PUBLIC CMAKE PYTHON
DEPENDS bot_core_lcmtypes lcm)
# signalscope
drake_add_external(signalscope PUBLIC CMAKE PYTHON QT
DEPENDS ctk_python_console lcm pythonqt)
# Option to skip building drake proper via the superbuild. This allows the
# superbuild to build everything BUT drake, which can still be built separately
# from its build directory. This is used by the dashboards to make separate
# submissions for drake proper and the superbuild without drake. Some users may
# also find it useful, especially to build drake with ninja using fewer than
# the default number of jobs.
option(SKIP_DRAKE_BUILD "Build external projects but not drake itself" OFF)
# drake: For drake, list both compilation AND RUNTIME dependencies. Runtime
# dependencies are needed because the drake project must configure only after
# any dependencies used by MATLAB have been installed.
# TODO: re-add TEST to drake flags when subprojects arrive
drake_add_external(drake LOCAL PUBLIC CMAKE ALWAYS MATLAB PYTHON VTK
SOURCE_DIR ${PROJECT_SOURCE_DIR}/drake
BINARY_DIR ${PROJECT_BINARY_DIR}/drake
CMAKE_ARGS
-DDISABLE_MATLAB:BOOL=${DISABLE_MATLAB}
-DDISABLE_PYTHON:BOOL=${DISABLE_PYTHON}
-DDISABLE_FORTRAN:BOOL=${DISABLE_FORTRAN}
-DWITH_AVL:BOOL=${WITH_AVL}
-DWITH_BOT_CORE_LCMTYPES:BOOL=${WITH_BOT_CORE_LCMTYPES}
-DWITH_BULLET:BOOL=${WITH_BULLET}
-DWITH_CCD:BOOL=${WITH_CCD}
-DWITH_EIGEN3:BOOL=${WITH_EIGEN} # TODO(jamiesnape): Fix naming inconsistency
-DWITH_FCL:BOOL=${WITH_FCL}
-DWITH_GFLAGS:BOOL=${WITH_GFLAGS}
-DWITH_GOOGLE_STYLEGUIDE:BOOL=${WITH_GOOGLE_STYLEGUIDE}
-DWITH_GTEST:BOOL=${WITH_GOOGLETEST} # TODO(jamiesnape): Fix naming inconsistency
-DWITH_GUROBI:BOOL=${WITH_GUROBI}
-DWITH_IGNITION_MATH3:BOOL=${WITH_IGNITION_MATH} # TODO(jamiesnape): Fix naming inconsistency
-DWITH_IGNITION_RNDF0:BOOL=${WITH_IGNITION_RNDF} # TODO(jamiesnape): Fix naming inconsistency
-DWITH_IPOPT:BOOL=${WITH_IPOPT}
-DWITH_IRIS:BOOL=${WITH_IRIS}
-DWITH_LCM:BOOL=${WITH_LCM}
-DWITH_LIBBOT:BOOL=${WITH_LIBBOT}
-DWITH_MESHCONVERTERS:BOOL=${WITH_MESHCONVERTERS}
-DWITH_MOSEK:BOOL=${WITH_MOSEK}
-DWITH_NLOPT:BOOL=${WITH_NLOPT}
-DWITH_OCTOMAP:BOOL=${WITH_OCTOMAP}
-DWITH_PROTOBUF:BOOL=${WITH_PROTOBUF}
-DWITH_PYBIND11:BOOL=${WITH_PYBIND11}
-DWITH_PYTHON_3:BOOL=${WITH_PYTHON_3}
-DWITH_SEDUMI:BOOL=${WITH_SEDUMI}
-DWITH_SIGNALSCOPE:BOOL=${WITH_SIGNALSCOPE}
-DWITH_SNOPT:BOOL=${WITH_SNOPT}
-DWITH_SPDLOG:BOOL=${WITH_SPDLOG}
-DWITH_SPOTLESS:BOOL=${WITH_SPOTLESS}
-DWITH_TEXTBOOK:BOOL=${WITH_TEXTBOOK}
-DWITH_TINYOBJLOADER:BOOL=${WITH_TINYOBJLOADER}
-DWITH_XFOIL:BOOL=${WITH_XFOIL}
-DWITH_YALMIP:BOOL=${WITH_YALMIP}
-DWITH_YAML_CPP:BOOL=${WITH_YAML_CPP}
-DUSE_CLANG_TIDY:BOOL=${USE_CLANG_TIDY}
-DUSE_INCLUDE_WHAT_YOU_USE:BOOL=${USE_INCLUDE_WHAT_YOU_USE}
-DUSE_LINK_WHAT_YOU_USE:BOOL=${USE_LINK_WHAT_YOU_USE}
-DUSE_SANITIZER:STRING=${USE_SANITIZER}
-DUSE_VALGRIND:STRING=${USE_VALGRIND}
DEPENDS
avl
bot_core_lcmtypes
bullet
ccd
eigen
fcl
fmt
gflags
google_styleguide
googletest
gurobi
ignition-math
ignition-rndf
ipopt
iris
lcm
libbot
meshconverters
mosek
nlopt
octomap
protobuf
pybind11
robotlocomotion_lcmtypes
sedumi
snopt
spdlog
spotless
textbook
tinyobjloader
vtk
xfoil
yalmip
yaml_cpp
)
# director
drake_add_external(director PUBLIC CMAKE TEST PYTHON QT VTK
CMAKE_ARGS
-DUSE_DRAKE=ON
-DUSE_LCM=${HAVE_LCM}
-DUSE_LCMGL=${HAVE_LIBBOT}
-DUSE_LIBBOT=OFF
-DENABLE_TESTING=ON
DEPENDS
bot_core_lcmtypes
ctk_python_console
drake
lcm
libbot
pythonqt
qt_property_browser
vtk
)
# END external projects
###############################################################################
# BEGIN examples
# Optional examples
drake_add_example(LittleDog OFF
"planning and control for a small quadruped robot")
# END examples
###############################################################################
# BEGIN ros packages
# END ros packages
###############################################################################
drake_setup_cpack()