From c23d4bd4569fdd07afc14489b9a4a612791dd4e2 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 26 Mar 2024 08:32:03 +0100
Subject: [PATCH] modernizing cmakelists (Simox and Eigen usage)
---
.../DSObstacleAvoidance/CMakeLists.txt | 4 +--
.../DynamicObstacleManager/CMakeLists.txt | 11 ++-----
.../aron/codegeneration/test/CMakeLists.txt | 30 ++++++-------------
source/RobotAPI/libraries/core/CMakeLists.txt | 14 ++++-----
4 files changed, 18 insertions(+), 41 deletions(-)
diff --git a/source/RobotAPI/components/DSObstacleAvoidance/CMakeLists.txt b/source/RobotAPI/components/DSObstacleAvoidance/CMakeLists.txt
index 4eb4b16a3..37675a4f2 100644
--- a/source/RobotAPI/components/DSObstacleAvoidance/CMakeLists.txt
+++ b/source/RobotAPI/components/DSObstacleAvoidance/CMakeLists.txt
@@ -11,9 +11,6 @@ endif()
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox not available")
-if(Simox_FOUND)
- include_directories(${Simox_INCLUDE_DIR})
-endif()
find_package(PythonLibs 3.6 QUIET)
armarx_build_if(PYTHONLIBS_FOUND "Python libs not available")
@@ -26,6 +23,7 @@ set(COMPONENT_LIBS
RobotAPIComponentPlugins
RobotAPIInterfaces
dynamic_obstacle_avoidance
+ Simox::SimoxUtility
)
set(SOURCES DSObstacleAvoidance.cpp)
diff --git a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
index 7136f05db..abcd773ce 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
+++ b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
@@ -3,15 +3,9 @@ armarx_component_set_name("DynamicObstacleManager")
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-if(Eigen3_FOUND)
- include_directories(${Eigen3_INCLUDE_DIR})
-endif()
find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
armarx_build_if(Simox_FOUND "Simox ${ArmarX_Simox_VERSION} or later not available")
-if (Simox_FOUND)
- include_directories(${Simox_INCLUDE_DIRS})
-endif()
find_package(OpenCV QUIET)
armarx_build_if(OpenCV_FOUND "OpenCV not available")
@@ -25,8 +19,10 @@ set(COMPONENT_LIBS
RobotAPICore
RobotAPIComponentPlugins
RobotAPIInterfaces
+ Eigen3::Eigen
${OpenCV_LIBS}
- ${Simox_LIBS}
+ Simox::VirtualRobot
+ # todo maybe add other simox libs
)
set(SOURCES
@@ -42,4 +38,3 @@ set(HEADERS
armarx_add_component("${SOURCES}" "${HEADERS}")
armarx_generate_and_add_component_executable()
-
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
index 3b05caec2..9923f490f 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -22,12 +22,10 @@ armarx_add_test(
TEST_FILE
aronOperatorTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
aron
aroncommon
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
)
######################
@@ -39,9 +37,10 @@ armarx_add_test(
TEST_FILE
aronCodeGenerationTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
RobotAPI::aron
+ Eigen3::Eigen
ARON_FILES
aron/AnyTest.xml
aron/TemplateTest.xml
@@ -62,8 +61,6 @@ armarx_add_test(
aron/OptionalTest.xml
aron/DtoTest.xml
INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
- ${Eigen3_INCLUDE_DIR}
${IVT_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
@@ -78,13 +75,11 @@ armarx_add_test(
TEST_FILE
aronNavigateTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
RobotAPI::aron
ARON_FILES
aron/NaturalIKTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
)
######################
@@ -96,14 +91,12 @@ armarx_add_test(
TEST_FILE
aronExtendsTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
RobotAPI::aron
ARON_FILES
aron/BaseClassTest.xml
aron/DerivedClassTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
)
######################
@@ -115,13 +108,11 @@ armarx_add_test(
TEST_FILE
aronConversionTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
RobotAPI::aron
ARON_FILES
aron/HumanPoseTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
)
######################
@@ -133,14 +124,12 @@ armarx_add_test(
TEST_FILE
aronJsonExportTest.cpp
LIBS
- SimoxUtility # Simox::SimoxUtility
+ Simox::SimoxUtility
ArmarXCore
RobotAPI::aron
ARON_FILES
aron/OptionalTest.xml
aron/MatrixTest.xml
- INCLUDE_DIRECTORIES
- ${Simox_INCLUDE_DIR}
)
########################
@@ -152,13 +141,14 @@ armarx_add_test(
# TEST_FILE
# aronRandomizedTest.cpp
# LIBS
-# SimoxUtility # Simox::SimoxUtility
+# Simox::SimoxUtility
# ArmarXCore
# RobotAPI::aron
# ivt
# ivtopencv
# ${PCL_COMMON_LIBRARIES}
# aronjsonconverter
+# Eigen3::Eigen
# ARON_FILES
# aron/DictTest.xml
# aron/MatrixTest.xml
@@ -176,8 +166,6 @@ armarx_add_test(
# aron/OptionalTest.xml
# aron/ImageTest.xml
# INCLUDE_DIRECTORIES
-# ${Simox_INCLUDE_DIR}
-# ${Eigen3_INCLUDE_DIR}
# ${IVT_INCLUDE_DIRS}
# ${OpenCV_INCLUDE_DIRS}
# ${PCL_INCLUDE_DIRS}
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 7756a2cd5..5cf0313b9 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -1,22 +1,18 @@
armarx_set_target("RobotAPI Core Library: RobotAPICore")
find_package(Eigen3 QUIET)
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} REQUIRED)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (Eigen3_FOUND AND Simox_FOUND)
- include_directories(${Simox_INCLUDE_DIRS})
- include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
set(LIB_NAME RobotAPICore)
set(LIBS RobotAPIInterfaces ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreEigen3Variants
- VirtualRobot
- Saba
- SimDynamics
+ Simox::VirtualRobot
+ # Simox::Saba
+ # Simox::SimDynamics
+ Eigen3::Eigen
)
set(LIB_FILES
--
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