cmake_minimum_required(VERSION 2.8.6) # for UseJava.

cmake
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
# set up pods
set(POD_NAME drake)
include(cmake/pods.cmake)
option(BUILD_SHARED_LIBS "Build Drake with shared libraries." ON)
# set up Java, use a target of 1.6
find_package(Java REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS ${CMAKE_JAVA_COMPILE_FLAGS} -source 6 -target 6)
if (CMAKE_COMPILER_IS_GNUCC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wreturn-type -Wuninitialized -Wunuse
d-variable") # -Wunused-parameter")
execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion
OUTPUT_VARIABLE GCC_VERSION)
if (NOT (GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3))
message(FATAL_ERROR "requires gcc version >= 4.3") # to support the c++
0x flag below
elseif(GCC_VERSION VERSION_LESS 4.7)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wreturn-type -Wuninitialized -Wunuse
d-variable") # -Wunused-parameter")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
if (APPLE) # this was a step towards getting things to work with
# clang on mac, but ultimately we didn't get there... (but I would
# be worried about sharing pointers between objects compiled against
# different c++ libs, so removing it)
#
# http://stackoverflow.com/questions/13445742/apple-and-shared-ptr
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
endif()
elseif (MSVC)
# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /arch:SSE2 /openmp")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2 /openmp")
endif()
# set up matlab build
include(cmake/mex.cmake)
enable_testing()
include(CTest)
set(drake_jar_javafiles util/Transform.java)
set(drake_jar_requires)
# set up and build lcm types
include(cmake/lcmtypes.cmake)
if (LCM_FOUND)
#add_subdirectory(lcmtypes)
lcmtypes_build()

pods_use_pkg_config_classpath(lcm-java)
list(APPEND drake_jar_javafiles
util/MyLCMTypeDatabase.java
util/MessageMonitor.java
util/CoordinateFrameData.java
util/LCMCoder.java
)
list(APPEND drake_jar_requires lcm-java lcmtypes_drake-java)
# add lcmgl
# annoyingly, libbot does not define a classpath variable. there might be a cl
eaner way to do this
execute_process(COMMAND pkg-config --variable=prefix bot2-lcmgl-client OUTPUT_
VARIABLE LCMGL_BUILD_DIR)
if (NOT LCMGL_BUILD_DIR)
message(WARNING "\n\n----- WARNING: bot2-lcmgl not found")
else ()
string(STRIP ${LCMGL_BUILD_DIR} LCMGL_BUILD_DIR)
find_jar(LCMGL_JAR_FILE bot2-lcmgl
PATHS "${LCMGL_BUILD_DIR}/share/java/")
if (NOT LCMGL_JAR_FILE)
message(FATAL_ERROR "\n\n----- ERROR: bot2-lcmgl not found")
else()
message(STATUS "Found bot2-lcmgl")
endif()
set(CMAKE_JAVA_INCLUDE_PATH ${CMAKE_JAVA_INCLUDE_PATH}:${LCMGL_JAR_FILE})
list(APPEND drake_jar_javafiles
util/BotLCMGLClient.java
)
endif()
endif()
add_jar(drake SOURCES ${drake_jar_javafiles})
install_jar(drake share/java)
pods_install_pkg_config_file(drake-java
CLASSPATH drake
REQUIRES ${drake_jar_requires}
VERSION 0.0.1)
pods_find_pkg_config(eigen3 3.2)
if (eigen3_FOUND)
pods_use_pkg_config_includes( eigen3 )
else()
# then use the traditional approach to finding Eigen3
find_package( Eigen3 3.2 )
if (Eigen3_FOUND)
set(eigen3_FOUND 1)
include_directories( EIGEN3_INCLUDE_DIR )
endif()
endif()
add_subdirectory(util)
add_subdirectory(solvers)
add_subdirectory(systems)
add_subdirectory(thirdParty/GetFullPath)
# setup matlab pods-compliance

include(cmake/matlab_pods.cmake)
pods_configure_matlab_paths()
get_relative_path("${CMAKE_INSTALL_PREFIX}/matlab" "${CMAKE_CURRENT_SOURCE_DIR}"
relpath)
message(STATUS "Writing addpath_drake.m and rmpath_drake.m to ${CMAKE_INSTALL_PR
EFIX}/matlab")
file(WRITE ${CMAKE_INSTALL_PREFIX}/matlab/addpath_drake.m
"function addpath_drake()\n"
" mfiledir = fileparts(which(mfilename));\n"
" wd = cd(fullfile(mfiledir,'${relpath}'));\n"
" addpath_drake();\n"
" cd(wd);\n"
)
file(WRITE ${CMAKE_INSTALL_PREFIX}/matlab/rmpath_drake.m
"function rmpath_drake()\n"
" mfiledir = fileparts(which(mfilename));\n"
" wd = cd(fullfile(mfiledir,'${relpath}'));\n"
" rmpath_drake();\n"
" cd(wd);\n"
)
find_program(avl avl PATHS ${CMAKE_INSTALL_DIR}/bin )
find_program(xfoil xfoil PATHS ${CMAKE_INSTALL_DIR}/bin )
find_program(ffmpeg ffmpeg)
# todo: build doxygen here (and remove it from the Makefile)
# http://majewsky.wordpress.com/2010/08/14/tip-of-the-day-cmake-and-doxygen/
# write some additional information to the CMake cache
set(lcm_java_classpath "${lcm-java_CLASSPATH}" CACHE FILEPATH "${lcm-java_CLASSP
ATH}" FORCE)
if (APPLE)
set(DYLD_LIBRARY_PATH "$ENV{DYLD_LIBRARY_PATH}" CACHE STRING "Environment vari
able used to launch processes from Matlab")
set(DYLD_FRAMEWORK_PATH "$ENV{DYLD_FRAMEWORK_PATH}" CACHE STRING "Environment
variable used to launch processes from Matlab")
mark_as_advanced(DYLD_LIBRARY_PATH)
mark_as_advanced(DYLD_FRAMEWORK_PATH)
else()
set(LD_LIBRARY_PATH "$ENV{LD_LIBRARY_PATH}" CACHE STRING "Environment variable
used to launch processes from Matlab")
mark_as_advanced(LD_LIBRARY_PATH)
endif()
add_test(NAME "RigidBodyManipulatorMemoryTest"
WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}/examples/Acrobot"
COMMAND "matlab" #"${CMAKE_SOURCE_DIR}/cmake/matlab_clean.pl"
"-nosplash" "-nodisplay" "-r" "addpath('${CMAKE_INSTALL_PREFIX}/matlab')
; addpath_${POD_NAME}; try, r = RigidBodyManipulator('Acrobot.urdf'); megaclear;
catch ex, disp(getReport(ex,'extended')); disp(''); knownIssue('$testname',ex);
force_close_system; exit(1); end; force_close_system; exit(0)")
set_tests_properties(RigidBodyManipulatorMemoryTest PROPERTIES TIMEOUT 60)