-
Notifications
You must be signed in to change notification settings - Fork 120
/
CMakeLists.txt
158 lines (125 loc) · 5.75 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
# Authors: Giulio Romualdi
# CopyPolicy: Released under the terms of the BSD 3-clause license
# Set cmake minimum version
cmake_minimum_required(VERSION 3.8)
# Extract version numbers from package.xml
# Based on code by DART (BSD-2-license)
# Cf. https://github.com/dartsim/dart/blob/f07186fbdb4e89e5340abb9718d02715bb315922/CMakeLists.txt#L62-L68
file(READ package.xml PACKAGE_XML)
string(REGEX MATCH "<version>[0-9]+\\.[0-9]+\\.[0-9]+</version>" DIRTY_VERSION_STRING ${PACKAGE_XML})
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\1" OsqpEigen_MAJOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\2" OsqpEigen_MINOR_VERSION "${DIRTY_VERSION_STRING}")
string(REGEX REPLACE "^<version>([0-9]+)\\.([0-9]+)\\.([0-9]+)</version>$" "\\3" OsqpEigen_PATCH_VERSION "${DIRTY_VERSION_STRING}")
set(OsqpEigen_VERSION "${OsqpEigen_MAJOR_VERSION}.${OsqpEigen_MINOR_VERSION}.${OsqpEigen_PATCH_VERSION}")
# Set project version
project(OsqpEigen VERSION ${OsqpEigen_VERSION})
# output paths
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
# Build shared libs
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
if(MSVC)
set(CMAKE_DEBUG_POSTFIX "d")
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
# Disable C and C++ compiler extensions.
# C/CXX_EXTENSIONS are ON by default to allow the compilers to use extended
# variants of the C/CXX language.
# However, this could expose cross-platform bugs in user code or in the headers
# of third-party dependencies and thus it is strongly suggested to turn
# extensions off.
set(CMAKE_C_EXTENSIONS OFF)
set(CMAKE_CXX_EXTENSIONS OFF)
# add GNU dirs
include(GNUInstallDirs)
# include macros for warnings
include(AddWarningsConfigurationToTargets)
include(CMakePackageConfigHelpers)
option(ENABLE_RPATH "Enable RPATH for this library" ON)
mark_as_advanced(ENABLE_RPATH)
include(AddInstallRPATHSupport)
add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
DEPENDS ENABLE_RPATH
USE_LINK_PATH)
# Encourage user to specify a build type (e.g. Release, Debug, etc.), otherwise set it to Release.
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
message(STATUS "Setting build type to 'Release' as none was specified.")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release")
endif()
endif()
option(BUILD_TESTING "Create tests using CMake" OFF)
include(CTest)
option(OSQP_EIGEN_DEBUG_OUTPUT "Print debug error messages to cerr" ON)
# Check OsqpEigen dependencies, find necessary libraries.
include(OsqpEigenDependencies)
# Set default build type to "Release" in single-config generators
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING
"Choose the type of build, recommended options are: Debug or Release" FORCE)
endif()
set(OSQPEIGEN_BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${OSQPEIGEN_BUILD_TYPES})
endif()
set(LIBRARY_TARGET_NAME OsqpEigen)
# List of CPP (source) library files.
set(${LIBRARY_TARGET_NAME}_SRC
src/Data.cpp
src/Settings.cpp
src/Solver.cpp
src/Debug.cpp)
set(${LIBRARY_TARGET_NAME}_HDR
include/OsqpEigen/OsqpEigen.h
include/OsqpEigen/Constants.hpp
include/OsqpEigen/SparseMatrixHelper.hpp
include/OsqpEigen/SparseMatrixHelper.tpp
include/OsqpEigen/Data.hpp
include/OsqpEigen/Data.tpp
include/OsqpEigen/Settings.hpp
include/OsqpEigen/Solver.hpp
include/OsqpEigen/Solver.tpp
include/OsqpEigen/Compat.hpp
include/OsqpEigen/Debug.hpp)
add_library(${LIBRARY_TARGET_NAME} ${${LIBRARY_TARGET_NAME}_SRC} ${${LIBRARY_TARGET_NAME}_HDR})
target_include_directories(${LIBRARY_TARGET_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
target_link_libraries(${LIBRARY_TARGET_NAME} PUBLIC osqp::osqp Eigen3::Eigen)
if(OSQP_IS_V1)
target_compile_definitions(${LIBRARY_TARGET_NAME} PUBLIC OSQP_EIGEN_OSQP_IS_V1)
endif()
add_library(OsqpEigen::OsqpEigen ALIAS OsqpEigen)
set_target_properties(${LIBRARY_TARGET_NAME} PROPERTIES
VERSION ${PROJECT_VERSION}
PUBLIC_HEADER "${${LIBRARY_TARGET_NAME}_HDR}")
target_compile_features(${LIBRARY_TARGET_NAME} PUBLIC cxx_std_14)
if(OSQP_EIGEN_DEBUG_OUTPUT)
target_compile_definitions(${LIBRARY_TARGET_NAME} PRIVATE "OSQP_EIGEN_DEBUG_OUTPUT")
endif()
# List exported CMake package dependencies
set(OSQP_EIGEN_EXPORTED_DEPENDENCIES "")
list(APPEND OSQP_EIGEN_EXPORTED_DEPENDENCIES osqp "Eigen3 CONFIG")
install(TARGETS ${LIBRARY_TARGET_NAME}
EXPORT ${PROJECT_NAME}
COMPONENT runtime
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT lib
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/OsqpEigen")
include(InstallBasicPackageFiles)
install_basic_package_files(${PROJECT_NAME}
NAMESPACE OsqpEigen::
VERSION ${${PROJECT_NAME}_VERSION}
COMPATIBILITY SameMajorVersion
VARS_PREFIX ${PROJECT_NAME}
NO_CHECK_REQUIRED_COMPONENTS_MACRO
DEPENDENCIES ${OSQP_EIGEN_EXPORTED_DEPENDENCIES})
# Install package.xml to share
install(FILES package.xml DESTINATION share/cmake/osqp-eigen)
## Testing
include(AddOsqpEigenUnitTest)
add_subdirectory(tests)
include(AddUninstallTarget)