Merge pull request #5 from pariterre/master

Improved the cmake config file and made math back end selection nicer

CMakeLists.txt

@@ -35,13 +35,28 @@ IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
   SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 ENDIF()
 
+# Choose the math's library backend to use
+set(MATH_LIBRARY_BACKEND Eigen3 CACHE STRING "Choose the backend library for the linear algebra.")
+# Set the possible values of build type for cmake-gui
+set_property(CACHE MATH_LIBRARY_BACKEND PROPERTY STRINGS "Eigen3" "Simple" "Casadi")
 
 OPTION (RBDL_BUILD_STATIC "Build statically linked library (otherwise dynamiclly linked)" ${RBDL_BUILD_STATIC_DEFAULT})
 OPTION (RBDL_BUILD_TESTS "Build the test executables" OFF)
 OPTION (RBDL_ENABLE_LOGGING "Enable logging (warning: major impact on performance!)" OFF)
 OPTION (RBDL_USE_SIMPLE_MATH "Use slow math instead of the fast Eigen3 library (faster compilation)" OFF)
-OPTION (RBDL_USE_CASADI_MATH "Use automatic differentiation Casadi library" OFF)
-option (RBDL_USE_EIGEN3_MATH "Use Eigen library" ON)
+if(${MATH_LIBRARY_BACKEND} STREQUAL "Eigen3")
+    set (RBDL_USE_EIGEN3_MATH ON)
+    set (RBDL_USE_SIMPLE_MATH OFF)
+    set (RBDL_USE_CASADI_MATH OFF)
+elseif(${MATH_LIBRARY_BACKEND} STREQUAL "Casadi")
+    set (RBDL_USE_EIGEN3_MATH OFF)
+    set (RBDL_USE_SIMPLE_MATH OFF)
+    set (RBDL_USE_CASADI_MATH ON)
+elseif(${MATH_LIBRARY_BACKEND} STREQUAL "Simple")
+    set (RBDL_USE_EIGEN3_MATH OFF)
+    set (RBDL_USE_SIMPLE_MATH ON)
+    set (RBDL_USE_CASADI_MATH OFF)
+endif()
 OPTION (RBDL_STORE_VERSION "Enable storing of version information in the library (requires build from valid repository)" OFF)
 OPTION (RBDL_BUILD_ADDON_URDFREADER "Build the (experimental) urdf reader" OFF)
 OPTION (RBDL_BUILD_ADDON_BENCHMARK "Build the benchmarking tool" OFF)
@@ -232,6 +247,19 @@ INSTALL (
   DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
   )
 
+# Prepare share
+message(${CMAKE_INSTALL_INCLUDEDIR})
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  share/RBDLConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/RBDLConfig.cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/rbdl/cmake
+)
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/RBDLConfig.cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/rbdl/cmake
+)
+
 # Packaging
 SET(CPACK_GENERATOR "DEB")
 SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis <[email protected]>")

share/FindRBDL.cmake

@@ -0,0 +1,70 @@
+# Searches for RBDL includes and library files
+#
+# Sets the variables
+#   RBDL_FOUND
+#   RBDL_INCLUDE_DIR
+#   RBDL_LIBRARIES
+
+SET (RBDL_FOUND FALSE)
+
+FIND_PATH (RBDL_INCLUDE_DIR rbdl.h
+	/usr/include
+	/usr/include/rbdl
+	/usr/local/include
+	/usr/local/include/rbdl
+	$ENV{HOME}/local/include
+	$ENV{HOME}/local/include/rbdl
+	${CMAKE_INSTALL_PREFIX}/include
+	${CMAKE_INSTALL_PREFIX}/include/rbdl
+	$ENV{RBDL_PATH}/src
+	$ENV{RBDL_PATH}/include
+	$ENV{RBDL_PATH}/include/rbdl
+	$ENV{RBDL_INCLUDE_PATH}
+	)
+FIND_LIBRARY (RBDL_LIBRARY NAMES rbdl	PATHS
+        /usr/lib
+        /usr/local/lib
+        /usr/local/lib64
+        ${CMAKE_INSTALL_PREFIX}
+        ${CMAKE_INSTALL_PREFIX}/lib
+        ${CMAKE_INSTALL_PREFIX}/lib64
+        $ENV{HOME}/local/lib
+        $ENV{HOME}/local/lib64
+	$ENV{RBDL_PATH}
+	$ENV{RBDL_LIBRARY_PATH}
+	)
+
+# FIND_LIBRARY (RBDL_LUAMODEL_LIBRARY NAMES rbdl_luamodel	PATHS
+# 	/usr/lib
+# 	/usr/local/lib
+# 	$ENV{HOME}/local/lib
+# 	$ENV{RBDL_PATH}
+# 	$ENV{RBDL_LIBRARY_PATH}
+# 	)
+
+IF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+	SET (RBDL_FOUND TRUE)
+ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+
+# IF (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+#  	SET (RBDL_LIBRARIES ${RBDL_LIBRARY} ${RBDL_LUAMODEL_LIBRARY})
+# ELSE (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+# 	SET (RBDL_LIBRARIES ${RBDL_LIBRARY})
+# ENDIF(RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+
+IF (RBDL_FOUND)
+   IF (NOT RBDL_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RBDL: ${RBDL_LIBRARY}")
+   ENDIF (NOT RBDL_FIND_QUIETLY)
+ELSE (RBDL_FOUND)
+   IF (RBDL_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find RBDL")
+   ENDIF (RBDL_FIND_REQUIRED)
+ENDIF (RBDL_FOUND)
+
+MARK_AS_ADVANCED (
+	RBDL_FOUND
+	RBDL_INCLUDE_DIR
+	RBDL_LIBRARIES
+	RBDL_LIBRARY_PATH
+	)

share/RBDLConfig.cmake.in

@@ -0,0 +1,63 @@
+set(RBDL_VERSION @PROJECT_VERSION_MAJOR@.@PROJECT_VERSION_MINOR@.@PROJECT_VERSION_PATCH@)
+
+FIND_PATH (RBDL_INCLUDE_DIR rbdl.h
+	/usr/include
+	/usr/include/rbdl
+	/usr/local/include
+	/usr/local/include/rbdl
+	$ENV{HOME}/local/include
+	$ENV{HOME}/local/include/rbdl
+	${CMAKE_INSTALL_PREFIX}/include
+	${CMAKE_INSTALL_PREFIX}/include/rbdl
+	$ENV{RBDL_PATH}/src
+	$ENV{RBDL_PATH}/include
+	$ENV{RBDL_PATH}/include/rbdl
+	$ENV{RBDL_INCLUDE_PATH}
+	)
+FIND_LIBRARY (RBDL_LIBRARY NAMES rbdl	PATHS
+        /usr/lib
+        /usr/local/lib
+        /usr/local/lib64
+        ${CMAKE_INSTALL_PREFIX}
+        ${CMAKE_INSTALL_PREFIX}/lib
+        ${CMAKE_INSTALL_PREFIX}/lib64
+        $ENV{HOME}/local/lib
+        $ENV{HOME}/local/lib64
+	$ENV{RBDL_PATH}
+	$ENV{RBDL_LIBRARY_PATH}
+	)
+
+# FIND_LIBRARY (RBDL_LUAMODEL_LIBRARY NAMES rbdl_luamodel	PATHS
+# 	/usr/lib
+# 	/usr/local/lib
+# 	$ENV{HOME}/local/lib
+# 	$ENV{RBDL_PATH}
+# 	$ENV{RBDL_LIBRARY_PATH}
+# 	)
+
+IF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+	SET (RBDL_FOUND TRUE)
+ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+
+# IF (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+#  	SET (RBDL_LIBRARIES ${RBDL_LIBRARY} ${RBDL_LUAMODEL_LIBRARY})
+# ELSE (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+# 	SET (RBDL_LIBRARIES ${RBDL_LIBRARY})
+# ENDIF(RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
+
+IF (RBDL_FOUND)
+   IF (NOT RBDL_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RBDL: ${RBDL_LIBRARY}")
+   ENDIF (NOT RBDL_FIND_QUIETLY)
+ELSE (RBDL_FOUND)
+   IF (RBDL_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find RBDL")
+   ENDIF (RBDL_FIND_REQUIRED)
+ENDIF (RBDL_FOUND)
+
+MARK_AS_ADVANCED (
+	RBDL_FOUND
+	RBDL_INCLUDE_DIR
+	RBDL_LIBRARIES
+	RBDL_LIBRARY_PATH
+)