jrl-umi3218 · gergondet · Oct 8, 2021 · Oct 8, 2021 · Oct 8, 2021
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,6 +4,7 @@
 
 cmake_minimum_required(VERSION 3.1.3)
 set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
 set(PROJECT_NAME RBDyn)
@@ -15,16 +16,39 @@ set(PROJECT_USE_CMAKE_EXPORT TRUE)
 
 option(BUILD_RBDYN_PARSERS "Build URDF and YAML parsers" ON)
 
+if(NOT DEFINED BUILD_SHARED_LIBS)
+  set(BUILD_SHARED_LIBS ON)
+endif()
+
 include(cmake/base.cmake)
 include(cmake/cython/cython.cmake)
 include(cmake/msvc-specific.cmake)
 
-project(RBDyn CXX)
+project(RBDyn LANGUAGES C CXX VERSION "${PROJECT_VERSION}")
 
 option(BENCHMARKS "Generate benchmarks." OFF)
 
 add_project_dependency(SpaceVecAlg REQUIRED NO_MODULE)
 
+if(BUILD_RBDYN_PARSERS)
+  add_project_dependency(yaml-cpp 0.5.0 REQUIRED NO_MODULE)
+
+  find_package(tinyxml2 QUIET NO_MODULE)
+  if(NOT ${tinyxml2_FOUND})
+    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules")
+    find_package(RBDyn_TinyXML2 REQUIRED)
+    install(FILES "${PROJECT_SOURCE_DIR}/CMakeModules/FindRBDyn_TinyXML2.cmake"
+            DESTINATION "${CONFIG_INSTALL_DIR}")
+    set(PACKAGE_EXTRA_MACROS "include(\${CMAKE_CURRENT_LIST_DIR}/FindRBDyn_TinyXML2.cmake)" CACHE INTERNAL "")
+  else()
+    add_project_dependency(tinyxml2 REQUIRED NO_MODULE)
+  endif()
+
+  # Note: technically we don't need system but it is likely to be here and
+  # CMake <= 3.5.0 needs at least one component to define Boost::boost
+  add_project_dependency(Boost REQUIRED COMPONENTS system)
+endif()
+
 # For MSVC, set local environment variable to enable finding the built dll
 # of the main library when launching ctest with RUN_TESTS
 if(MSVC)

diff --git a/binding/python/CMakeLists.txt b/binding/python/CMakeLists.txt
@@ -5,15 +5,20 @@
 set(RBDYN_BINDINGS_MODULES rbdyn.rbdyn)
 set(RBDYN_BINDINGS_EXPORT_SOURCES rbdyn/c_rbdyn.pxd rbdyn/rbdyn.pxd rbdyn/__init__.py)
 set(RBDYN_BINDINGS_PRIVATE_SOURCES include/rbdyn_wrapper.hpp rbdyn/rbdyn.pyx rbdyn/c_rbdyn_private.pxd tests/test_rbdyn_pickle.py)
+set(RBDYN_BINDINGS_TARGETS RBDyn)
 
 if(${BUILD_RBDYN_PARSERS})
   list(APPEND RBDYN_BINDINGS_MODULES rbdyn.parsers.parsers)
   list(APPEND RBDYN_BINDINGS_EXPORT_SOURCES rbdyn/parsers/c_parsers.pxd rbdyn/parsers/parsers.pxd rbdyn/parsers/__init__.py)
   list(APPEND RBDYN_BINDINGS_PRIVATE_SOURCES include/rbdyn_parsers_wrapper.hpp rbdyn/parsers/parsers.pyx rbdyn/parsers/c_parsers_private.pxd tests/test_rbdyn_parsers.py)
+  list(APPEND RBDYN_BINDINGS_TARGETS RBDyn::Parsers)
+  if(NOT BUILD_SHARED_LIBS)
+    list(APPEND RBDYN_BINDINGS_TARGETS yaml-cpp tinyxml2::tinyxml2)
+  endif()
 endif()
 
 ADD_CYTHON_BINDINGS(rbdyn
-  TARGETS RBDyn RBDyn::Parsers
+  TARGETS ${RBDYN_BINDINGS_TARGETS}
   MODULES ${RBDYN_BINDINGS_MODULES}
   EXPORT_SOURCES ${RBDYN_BINDINGS_EXPORT_SOURCES}
   PRIVATE_SOURCES ${RBDYN_BINDINGS_PRIVATE_SOURCES}

diff --git a/cmake b/cmake
diff --git a/debian/librbdyn-dev.install b/debian/librbdyn-dev.install
@@ -1,5 +1,5 @@
 usr/include/*
-usr/lib/libRBDyn.so
-usr/lib/libRBDynParsers.so
+usr/lib/*/libRBDyn.so
+usr/lib/*/libRBDynParsers.so
 usr/lib/*/pkgconfig/*
-usr/lib/cmake/*
+usr/lib/*/cmake/*
diff --git a/debian/librbdyn1.install b/debian/librbdyn1.install
@@ -1,2 +1,2 @@
-usr/lib/libRBDyn.so.1*
-usr/lib/libRBDynParsers.so.1*
+usr/lib/*/libRBDyn.so.1*
+usr/lib/*/libRBDynParsers.so.1*
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -3,6 +3,6 @@
 #
 
 add_subdirectory(RBDyn)
-if(${BUILD_RBDYN_PARSERS})
+if(BUILD_RBDYN_PARSERS)
     add_subdirectory(parsers)
 endif()
diff --git a/src/RBDyn/CMakeLists.txt b/src/RBDyn/CMakeLists.txt
@@ -9,7 +9,7 @@ set(HEADERS RBDyn/Body.h RBDyn/Joint.h RBDyn/MultiBodyGraph.h RBDyn/MultiBody.h
   RBDyn/FK.h RBDyn/FV.h RBDyn/FA.h RBDyn/Jacobian.h RBDyn/ID.h RBDyn/IK.h RBDyn/IS.h RBDyn/FD.h RBDyn/EulerIntegration.h RBDyn/CoM.h
   RBDyn/Momentum.h RBDyn/ZMP.h RBDyn/IDIM.h RBDyn/VisServo.h RBDyn/util.hh RBDyn/util.hxx RBDyn/Coriolis.h)
 
-add_library(RBDyn SHARED ${SOURCES} ${HEADERS})
+add_library(RBDyn ${SOURCES} ${HEADERS})
 target_include_directories(RBDyn PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../include> $<INSTALL_INTERFACE:include>)
 target_link_libraries(RBDyn PUBLIC SpaceVecAlg::SpaceVecAlg)
 set_target_properties(RBDyn PROPERTIES COMPILE_FLAGS "-Drbdyn_EXPORTS")
@@ -19,8 +19,8 @@ set_target_properties(RBDyn PROPERTIES CXX_STANDARD 11)
 install(
     TARGETS RBDyn
     EXPORT "${TARGETS_EXPORT_NAME}"
-    LIBRARY DESTINATION "lib"
-    ARCHIVE DESTINATION "lib"
-    RUNTIME DESTINATION "bin"
+    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
 )
 install(FILES ${HEADERS} DESTINATION ${INCLUDE_INSTALL_DESTINATION})
diff --git a/src/parsers/CMakeLists.txt b/src/parsers/CMakeLists.txt
@@ -2,27 +2,10 @@
 # Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-add_project_dependency(yaml-cpp 0.5.0 REQUIRED NO_MODULE)
-
-find_package(tinyxml2 QUIET NO_MODULE)
-if(NOT ${tinyxml2_FOUND})
-  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules")
-  find_package(RBDyn_TinyXML2 REQUIRED)
-  install(FILES "${PROJECT_SOURCE_DIR}/CMakeModules/FindRBDyn_TinyXML2.cmake"
-          DESTINATION "${CONFIG_INSTALL_DIR}")
-  set(PACKAGE_EXTRA_MACROS "include(\${CMAKE_CURRENT_LIST_DIR}/FindRBDyn_TinyXML2.cmake)" CACHE INTERNAL "")
-else()
-  add_project_dependency(tinyxml2 REQUIRED NO_MODULE)
-endif()
-
-# Note: technically we don't need system but it is likely to be here and
-# CMake <= 3.5.0 needs at least one component to define Boost::boost
-add_project_dependency(Boost REQUIRED COMPONENTS system)
-
 set(SOURCES common.cpp urdf.cpp to_urdf.cpp yaml.cpp to_yaml.cpp)
 set(HEADERS RBDyn/parsers/api.h RBDyn/parsers/common.h RBDyn/parsers/urdf.h RBDyn/parsers/yaml.h)
 
-add_library(RBDynParsers SHARED ${SOURCES} ${HEADERS})
+add_library(RBDynParsers ${SOURCES} ${HEADERS})
 add_library(RBDyn::Parsers ALIAS RBDynParsers)
 target_include_directories(RBDynParsers PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../include> $<INSTALL_INTERFACE:include>)
 target_link_libraries(RBDynParsers PUBLIC RBDyn tinyxml2::tinyxml2 yaml-cpp Boost::boost)
@@ -34,9 +17,9 @@ set_target_properties(RBDynParsers PROPERTIES SOVERSION ${PROJECT_VERSION_MAJOR}
 install(
     TARGETS RBDynParsers
     EXPORT "${TARGETS_EXPORT_NAME}"
-    LIBRARY DESTINATION "lib"
-    ARCHIVE DESTINATION "lib"
-    RUNTIME DESTINATION "bin"
+    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
 )
 install(FILES ${HEADERS} DESTINATION ${INCLUDE_INSTALL_DESTINATION}/parsers)
 
@@ -46,7 +29,7 @@ target_link_libraries(urdf_yaml_converter PUBLIC RBDyn::Parsers)
 
 install(
     TARGETS urdf_yaml_converter
-    LIBRARY DESTINATION "lib"
-    ARCHIVE DESTINATION "lib"
-    RUNTIME DESTINATION "bin"
+    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
 )
+5 −3		Config.cmake.in
+1 −2		_unittests/python/CMakeLists.txt
+1 −1		base.cmake
+1 −14		boost.cmake
+38 −19		cxx-standard.cmake
+0 −6		cxx-standard.cpp
+15 −0		cython/cython.cmake
+30 −3		cython/setup.in.py
+2 −1		distcheck.cmake
+1 −1		doxygen.cmake
+0 −70		dynamic_graph/python-module-py.cc
+32 −0		dynamic_graph/python-module-py.cc.in
+3 −19		dynamic_graph/submodule/__init__.py.cmake
+28 −0		find-external/OpenMP/FindOpenMP.cmake
+1 −1		gtest/CMakeLists.txt.in
+7 −7		header.cmake
+1 −1		idl.cmake
+113 −26		msvc-specific.cmake
+4 −1		msvc.vcxproj.user.in
+1 −1		openrtm.cmake
+27 −10		package-config.cmake
+1 −1		pkg-config.cmake
+95 −38		python.cmake
+9 −0		release.cmake
+1 −1		sphinx.cmake
+15 −0		stubgen/CMakeLists.txt.in
+127 −0		stubs.cmake
+8 −0		test.cmake
+29 −18		version-script.cmake
+1 −1		version.cmake
+4 −0		xacro.cmake