Merge pull request #14 from jcarpent/master

Simplify cmake files
stack-of-tasks · Jun 11, 2018 · 6cdcde3 · 6cdcde3
2 parents b63ad91 + adc5ebd
commit 6cdcde3
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Showing 5 changed files with 42 additions and 53 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 CNRS
+# Copyright (c) 2017-2018 CNRS
 #
 # This file is part of tsid
 # pinocchio is free software: you can redistribute it
@@ -21,25 +21,18 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/ide.cmake)
+INCLUDE(cmake/apple.cmake)
 
 SET(PROJECT_NAME tsid)
 SET(PROJECT_DESCRIPTION "Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio")
 SET(PROJECT_URL "http://github.com/stack-of-tasks/tsid")
-OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
+OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
 
 SET(DOXYGEN_USE_MATHJAX YES)
 
+# Handle APPLE Cmake policy
 IF(APPLE)
-  SET(CMAKE_MACOSX_RPATH TRUE)
-  SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
-  SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-  list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-  if("${isSystemDir}" STREQUAL "-1")
-     set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-  endif("${isSystemDir}" STREQUAL "-1")
+  APPLY_DEFAULT_APPLE_CONFIGURATION()
 ENDIF(APPLE)
 
 # Disable -Werror on Unix for now.

diff --git a/cmake b/cmake
diff --git a/include/tsid/math/utils.hpp b/include/tsid/math/utils.hpp
@@ -94,7 +94,7 @@ namespace tsid
                      const se3::SE3 & Mdes,
                      se3::Motion & error);
 
-    void solveWithDampingFromSvd(Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> & svd,
+    void solveWithDampingFromSvd(Eigen::JacobiSVD<Eigen::MatrixXd> & svd,
                              ConstRefVector b,
                              RefVector sol, double damping=0.0);
 
@@ -107,13 +107,13 @@ namespace tsid
                        unsigned int computationOptions = Eigen::ComputeThinU | Eigen::ComputeThinV);
 
     void pseudoInverse(ConstRefMatrix A,
-                       Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                       Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition,
                        RefMatrix Apinv,
                        double tolerance,
                        unsigned int computationOptions);
 
     void pseudoInverse(ConstRefMatrix A,
-                       Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                       Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition,
                        RefMatrix Apinv,
                        double tolerance,
                        double * nullSpaceBasisOfA,
@@ -122,20 +122,20 @@ namespace tsid
                        unsigned int computationOptions);
 
     void dampedPseudoInverse(ConstRefMatrix A,
-                             Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                             Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition,
                              RefMatrix Apinv,
                              double tolerance,
                              double dampingFactor,
                              unsigned int computationOptions = Eigen::ComputeThinU | Eigen::ComputeThinV,
                              double * nullSpaceBasisOfA=0,
                              int *nullSpaceRows=0, int *nullSpaceCols=0);
 
-    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> & svdDecomposition,
+    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd> & svdDecomposition,
                                          double tolerance,
                                          double * nullSpaceBasisMatrix,
                                          int &rows, int &cols);
 
-    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> & svdDecomposition,
+    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd> & svdDecomposition,
                                          int rank,
                                          double * nullSpaceBasisMatrix,
                                          int &rows, int &cols);

diff --git a/src/math/utils.cpp b/src/math/utils.cpp
@@ -52,7 +52,7 @@ namespace tsid
       error = se3::log6(Mdes.inverse() * M);
     }
 
-    void solveWithDampingFromSvd(Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> & svd,
+    void solveWithDampingFromSvd(Eigen::JacobiSVD<Eigen::MatrixXd> & svd,
                                  ConstRefVector b,
                                  RefVector sol, double damping)
     {
@@ -77,7 +77,7 @@ namespace tsid
                              RefVector sol, double damping)
     {
       assert(A.rows()==b.size());
-      Eigen::JacobiSVD<typename Eigen::MatrixXd::PlainObject> svd(A.rows(), A.cols());
+      Eigen::JacobiSVD<Eigen::MatrixXd> svd(A.rows(), A.cols());
       svd.compute(A, Eigen::ComputeThinU | Eigen::ComputeThinV);
 
       solveWithDampingFromSvd(svd, b, sol, damping);
@@ -89,12 +89,12 @@ namespace tsid
                        unsigned int computationOptions)
 
     {
-      Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> svdDecomposition(A.rows(), A.cols());
+      Eigen::JacobiSVD<Eigen::MatrixXd> svdDecomposition(A.rows(), A.cols());
       pseudoInverse(A, svdDecomposition, Apinv, tolerance, computationOptions);
     }
 
     void pseudoInverse(ConstRefMatrix A,
-                       Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                       Eigen::JacobiSVD<Eigen::MatrixXd> & svdDecomposition,
                        RefMatrix Apinv,
                        double tolerance,
                        unsigned int computationOptions)
@@ -106,7 +106,7 @@ namespace tsid
     }
 
     void pseudoInverse(ConstRefMatrix A,
-                       Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                       Eigen::JacobiSVD<Eigen::MatrixXd> & svdDecomposition,
                        RefMatrix Apinv,
                        double tolerance,
                        double * nullSpaceBasisOfA,
@@ -118,7 +118,7 @@ namespace tsid
       if (computationOptions == 0) return; //if no computation options we cannot compute the pseudo inverse
       svdDecomposition.compute(A, computationOptions);
 
-      JacobiSVD<MatrixXd::PlainObject>::SingularValuesType singularValues = svdDecomposition.singularValues();
+      JacobiSVD<MatrixXd>::SingularValuesType singularValues = svdDecomposition.singularValues();
       long int singularValuesSize = singularValues.size();
       int rank = 0;
       for (long int idx = 0; idx < singularValuesSize; idx++) {
@@ -140,7 +140,7 @@ namespace tsid
     }
 
     void dampedPseudoInverse(ConstRefMatrix A,
-                             Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+                             Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition,
                              RefMatrix Apinv,
                              double tolerance,
                              double dampingFactor,
@@ -153,7 +153,7 @@ namespace tsid
       if (computationOptions == 0) return; //if no computation options we cannot compute the pseudo inverse
       svdDecomposition.compute(A, computationOptions);
 
-      JacobiSVD<MatrixXd::PlainObject>::SingularValuesType singularValues = svdDecomposition.singularValues();
+      JacobiSVD<MatrixXd>::SingularValuesType singularValues = svdDecomposition.singularValues();
 
       //rank will be used for the null space basis.
       //not sure if this is correct
@@ -178,13 +178,13 @@ namespace tsid
       }
     }
 
-    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject>& svdDecomposition,
+    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition,
                                          double tolerance,
                                          double * nullSpaceBasisMatrix,
                                          int &rows, int &cols)
     {
       using namespace Eigen;
-      JacobiSVD<MatrixXd::PlainObject>::SingularValuesType singularValues = svdDecomposition.singularValues();
+      JacobiSVD<MatrixXd>::SingularValuesType singularValues = svdDecomposition.singularValues();
       int rank = 0;
       for (int idx = 0; idx < singularValues.size(); idx++) {
         if (tolerance > 0 && singularValues(idx) > tolerance) {
@@ -195,7 +195,7 @@ namespace tsid
 
     }
 
-    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd::PlainObject> & svdDecomposition,
+    void nullSpaceBasisFromDecomposition(const Eigen::JacobiSVD<Eigen::MatrixXd> & svdDecomposition,
                                          int rank,
                                          double * nullSpaceBasisMatrix,
                                          int &rows, int &cols)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
@@ -18,16 +18,20 @@
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
 
+IF(BUILD_UNIT_TESTS)
+  SET(DISABLE_TESTS OFF)
+ELSE(BUILD_UNIT_TESTS)
+  SET(DISABLE_TESTS ON)
+ENDIF(BUILD_UNIT_TESTS)
+include(../cmake/test.cmake)
+
 MACRO(ADD_TEST_CFLAGS target flag)
   SET_PROPERTY(TARGET ${target} APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
 ENDMACRO(ADD_TEST_CFLAGS)
 
-MACRO(ADD_UNIT_TEST NAME PKGS)
-  IF (BUILD_UNIT_TESTS)
-    ADD_EXECUTABLE(${NAME} ${NAME})
-  ELSE (BUILD_UNIT_TESTS)
-    ADD_EXECUTABLE(${NAME} EXCLUDE_FROM_ALL ${NAME})
-  ENDIF (BUILD_UNIT_TESTS)
+MACRO(ADD_TESTCASE NAME PKGS)
+  ADD_UNIT_TEST(${NAME} ${NAME})
+
   SET_TARGET_PROPERTIES(${NAME} PROPERTIES LINKER_LANGUAGE CXX)
   ADD_TEST_CFLAGS(${NAME} "-DBOOST_TEST_DYN_LINK") 
   SET(MODULE_NAME "${NAME}Test")
@@ -40,34 +44,26 @@ MACRO(ADD_UNIT_TEST NAME PKGS)
 
   TARGET_LINK_LIBRARIES(${NAME} ${PROJECT_NAME})
   TARGET_LINK_LIBRARIES(${NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-
-  ADD_TEST(NAME ${NAME} COMMAND ${NAME})
-  ADD_DEPENDENCIES(check ${NAME})
-ENDMACRO(ADD_UNIT_TEST)
+ENDMACRO(ADD_TESTCASE)
 
 # --- RULES -------------------------------------------------------------------
 # --- RULES -------------------------------------------------------------------
 # --- RULES -------------------------------------------------------------------
-IF(APPLE)
-  ADD_CUSTOM_TARGET(check COMMAND export DYLD_LIBRARY_PATH=$ENV{DYLD_LIBRARY_PATH} && ${CMAKE_CTEST_COMMAND})
-ELSE(APPLE)
-  ADD_CUSTOM_TARGET(check COMMAND ${CMAKE_CTEST_COMMAND})
-ENDIF(APPLE)
 
-ADD_UNIT_TEST(constraints "eigen3;pinocchio")
-ADD_UNIT_TEST(trajectories "eigen3;pinocchio")
+ADD_TESTCASE(constraints "eigen3;pinocchio")
+ADD_TESTCASE(trajectories "eigen3;pinocchio")
 
-ADD_UNIT_TEST(robot-wrapper "eigen3;pinocchio")
+ADD_TESTCASE(robot-wrapper "eigen3;pinocchio")
 ADD_TEST_CFLAGS(robot-wrapper '-DTSID_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
 
-ADD_UNIT_TEST(tasks "eigen3;pinocchio")
+ADD_TESTCASE(tasks "eigen3;pinocchio")
 ADD_TEST_CFLAGS(tasks '-DTSID_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
 
-ADD_UNIT_TEST(contacts "eigen3;pinocchio")
+ADD_TESTCASE(contacts "eigen3;pinocchio")
 ADD_TEST_CFLAGS(contacts '-DTSID_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
 
-ADD_UNIT_TEST(tsid-formulation "eigen3;pinocchio")
+ADD_TESTCASE(tsid-formulation "eigen3;pinocchio")
 ADD_TEST_CFLAGS(tsid-formulation '-DTSID_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
 
-ADD_UNIT_TEST(math_utils "eigen3;pinocchio")
-ADD_UNIT_TEST(hqp_solvers "eigen3;pinocchio")
+ADD_TESTCASE(math_utils "eigen3;pinocchio")
+ADD_TESTCASE(hqp_solvers "eigen3;pinocchio")