now exporting linked libraries from ct_optcon correctly

markusgft · markusgft · commit 6c46eb71b6d7 · 2019-05-12T18:52:03.000+02:00
diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,8 @@ CMakeCache.txt
 !clang-cxx-dev-tools.cmake
 !compilerSettings.cmake
 !FindIPOPT.cmake
+!Findblasfeo.cmake
+!Findhpipm.cmake
 *.a
 *.o
 *.so
diff --git a/ct_core/CMakeLists.txt b/ct_core/CMakeLists.txt
@@ -86,12 +86,17 @@ if(USE_PRESPEC)
 endif(USE_PRESPEC)
 
 
-## create ct_core library
-add_library(ct_core SHARED src/core/plot/plot.cpp)
-target_include_directories(ct_core PUBLIC ${ct_core_target_include_dirs})
-target_link_libraries(ct_core
+## create ct_core libraries
+add_library(ct_plot SHARED src/core/plot/plot.cpp)
+target_include_directories(ct_plot PUBLIC ${ct_core_target_include_dirs})
+target_link_libraries(ct_plot ${ct_core_LIBS})
+
+add_library(ct_core INTERFACE)
+target_include_directories(ct_core INTERFACE ${ct_core_target_include_dirs})
+target_link_libraries(ct_core INTERFACE
     ${ct_core_LIBS}
     ${PRESPEC_LIB_NAMES}
+    ct_plot
     pthread
     dl # required for gcc compatibility
     )
@@ -147,7 +152,7 @@ install(FILES "${PROJECT_BINARY_DIR}/ct_coreConfig.cmake" DESTINATION "share/ct_
 
 ## install library and targets
 install(
-    TARGETS ct_core ${PRESPEC_LIB_NAMES}
+    TARGETS ct_core ct_plot ${PRESPEC_LIB_NAMES}
     EXPORT ct_core_export
     ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
diff --git a/ct_core/cmake/ct_coreConfig.cmake.in b/ct_core/cmake/ct_coreConfig.cmake.in
@@ -8,7 +8,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/ct_core_export.cmake)
 get_target_property(ct_core_INCLUDE_DIRS ct_core INTERFACE_INCLUDE_DIRECTORIES)
 
 # define libraries in legacy mode
-get_property(ct_core_LIB TARGET ct_core PROPERTY LOCATION)
+get_property(ct_core_LIB TARGET ct_plot PROPERTY LOCATION)
 list(APPEND ct_core_LIBRARIES ${ct_core_LIB})
 
 # Required for catkin_simple to link against these libraries
diff --git a/ct_models/CMakeLists.txt b/ct_models/CMakeLists.txt
@@ -118,7 +118,6 @@ endif(BUILD_HYQ_LINEARIZATION_TIMINGS)
 add_executable(InvertedPendulumWithActuatorCodeGen src/InvertedPendulum/codegen/InvertedPendulumWithActuatorCodeGen.cpp)
 target_include_directories(InvertedPendulumWithActuatorCodeGen PUBLIC ${ct_models_target_include_dirs})
 target_link_libraries(InvertedPendulumWithActuatorCodeGen ct_rbd)
-list(APPEND CT_MODEL_LIBS InvertedPendulumWithActuatorCodeGen)
 
 add_library(InvertedPendulumActDynLinearizedForward include/ct/models/InvertedPendulum/codegen/InvertedPendulumActDynLinearizedForward.cpp)
 target_include_directories(InvertedPendulumWithActuatorCodeGen PUBLIC ${ct_models_target_include_dirs})
@@ -191,6 +190,16 @@ target_link_libraries(irb4600_ik ct_rbd)
 list(APPEND CT_MODEL_LIBS irb4600_ik)
 
 
+## convenience library for passing on includes
+add_library(ct_models INTERFACE)
+target_include_directories(ct_models INTERFACE ${ct_models_target_include_dirs})
+target_link_libraries(ct_models INTERFACE 
+  ct_rbd
+  ${CT_MODEL_LIBS}
+  )
+list(APPEND CT_MODEL_LIBS ct_models)
+
+
 ############
 # EXAMPLES #
 ############
@@ -241,7 +250,7 @@ install(
     RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}
     )
 
-## create the ct_rbd.cmake file which holds target includes and dependencies
+## create the ct_models.cmake file which holds target includes and dependencies
 install (EXPORT ct_models_export DESTINATION share/ct_models/cmake)
 
 
diff --git a/ct_models/cmake/ct_modelsConfig.cmake.in b/ct_models/cmake/ct_modelsConfig.cmake.in
@@ -6,6 +6,13 @@ set(ct_models_COMPILE_DEFINITIONS "@ct_models_compile_definitions@")
 
 include(${CMAKE_CURRENT_LIST_DIR}/ct_models_export.cmake)
 
+#define includes in legacy mode
+get_target_property(ct_models_INCLUDE_DIRS ct_models INTERFACE_INCLUDE_DIRECTORIES)
+
+# define libraries in legacy mode
+get_property(ct_models_LIB TARGET ct_models PROPERTY INTERFACE_LINK_LIBRARIES)
+list(APPEND ct_models_LIBRARIES ${ct_models_LIB})
+
 # Required for catkin_simple to link against these libraries
 set(ct_models_FOUND_CATKIN_PROJECT true)
 
diff --git a/ct_optcon/CMakeLists.txt b/ct_optcon/CMakeLists.txt
@@ -57,29 +57,15 @@ else(LAPACK_FOUND)
 endif(LAPACK_FOUND)
 
 
-## include BLASFEO AND HPIPM
-set(HPIPM_INCLUDE_DIRS "")
-set(HPIPM_LIBS "")
-if(HPIPM)
-    if(DEFINED ENV{BLASFEO_DIR})
-        if(DEFINED ENV{HPIPM_DIR})
-            message(WARNING "...Found HPIPM and BLASFEO environment variables")
-            add_definitions (-DHPIPM)
-
-            list(APPEND HPIPM_INCLUDE_DIRS $ENV{BLASFEO_DIR}/include)
-            list(APPEND HPIPM_INCLUDE_DIRS $ENV{HPIPM_DIR}/include)
-    
-            link_directories($ENV{BLASFEO_DIR}/lib)
-            link_directories($ENV{HPIPM_DIR}/lib)
-            list(APPEND HPIPM_LIBS hpipm blasfeo)
-
-        else(DEFINED ENV{HPIPM_DIR})
-            message(WARNING "Trying to build with HPIPM, but no ENV variable for HPIPM found.")
-        endif(DEFINED ENV{HPIPM_DIR})
-    else(DEFINED ENV{BLASFEO_DIR})
-        message(WARNING "Trying to build with HPIPM, but no ENV variable for Blasfeo found.")
-    endif(DEFINED ENV{BLASFEO_DIR})
-endif(HPIPM)
+## include HPIPM (required: environment variables for blasfeo and hpipm set)
+find_package(blasfeo QUIET)
+find_package(hpipm QUIET)
+if(blasfeo_FOUND AND hpipm_FOUND)
+    message(STATUS "Found HPIPM and BLASFEO")
+    set(HPIPM ON)
+    add_definitions(-DHPIPM)
+    list(APPEND HPIPM_LIBS ${hpipm_LIBRARIES} ${blasfeo_LIBRARIES})
+endif()
 
 
 ## include IPOPT (after installation via sudo apt-get install coinor-libipopt-dev)
@@ -122,7 +108,8 @@ endif()
 set(ct_optcon_target_include_dirs
     ${ct_core_INCLUDE_DIRS}
     ${matlab_cpp_interface_INCLUDE_DIRS}
-    ${HPIPM_INCLUDE_DIRS}
+    ${blasfeo_INCLUDE_DIRS}
+    ${hpipm_INCLUDE_DIRS}
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
 )
@@ -153,11 +140,9 @@ endif(USE_PRESPEC)
 
 
 ## create ct_optcon library
-add_library(ct_optcon SHARED
-    src/ct_optcon.cpp
-    )
-target_include_directories(ct_optcon PUBLIC ${ct_optcon_target_include_dirs})
-    target_link_libraries(ct_optcon
+add_library(ct_optcon INTERFACE)
+target_include_directories(ct_optcon INTERFACE ${ct_optcon_target_include_dirs})
+target_link_libraries(ct_optcon INTERFACE
     ct_core
     ${matlab_cpp_interface_LIBRARIES}
     ${LAPACK_LIBS}
@@ -220,7 +205,7 @@ install(
     RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}
     )
 
-## create the ct_core.cmake file which holds target includes and dependencies
+## create the ct_optcon.cmake file which holds target includes and dependencies
 install (EXPORT ct_optcon_export DESTINATION share/ct_optcon/cmake)
 
     
diff --git a/ct_optcon/cmake/Findblasfeo.cmake b/ct_optcon/cmake/Findblasfeo.cmake
@@ -0,0 +1,22 @@
+## find blasfeo library based on user-defined environment variable
+if(DEFINED ENV{BLASFEO_DIR})
+    message(STATUS "Found BLASFEO environment variable.")
+    list(APPEND blasfeo_INCLUDE_DIRS $ENV{BLASFEO_DIR}/include)
+
+    find_library(blasfeo_libs_found blasfeo $ENV{BLASFEO_DIR}/lib)
+
+    add_library(blasfeo STATIC IMPORTED)
+    set_target_properties(blasfeo PROPERTIES IMPORTED_LOCATION ${blasfeo_libs_found})
+
+    set_target_properties(blasfeo PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "$ENV{BLASFEO_DIR}/include"
+        INTERFACE_LINK_LIBRARIES ${blasfeo_libs_found}
+        )
+
+    set(blasfeo_LIBRARIES ${blasfeo_libs_found})
+
+    set(blasfeo_FOUND true)
+else()
+    message(STATUS "No ENV variable for blasfeo found.")
+    set(blasfeo_FOUND false)
+endif()
diff --git a/ct_optcon/cmake/Findhpipm.cmake b/ct_optcon/cmake/Findhpipm.cmake
@@ -0,0 +1,23 @@
+## find hpipm library based on user-defined environment variable
+if(DEFINED ENV{HPIPM_DIR})
+    message(STATUS "Found HPIPM environment variable.")
+    
+    list(APPEND hpipm_INCLUDE_DIRS $ENV{HPIPM_DIR}/include)
+
+    find_library(hpipm_libs_found hpipm $ENV{HPIPM_DIR}/lib)
+
+    add_library(hpipm STATIC IMPORTED)
+    set_target_properties(hpipm PROPERTIES IMPORTED_LOCATION ${hpipm_libs_found})
+
+    set_target_properties(hpipm PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "$ENV{HPIPM_DIR}/include"
+        INTERFACE_LINK_LIBRARIES ${hpipm_libs_found}
+        )
+    set(hpipm_LIBRARIES ${hpipm_libs_found})
+
+    set(hpipm_FOUND true)
+else()
+    message(STATUS "No ENV variable for HPIPM found.")
+    set(hpipm_FOUND false)
+endif()
+
diff --git a/ct_optcon/cmake/ct_optconConfig.cmake.in b/ct_optcon/cmake/ct_optconConfig.cmake.in
@@ -10,7 +10,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/ct_optcon_export.cmake)
 get_target_property(ct_optcon_INCLUDE_DIRS ct_optcon INTERFACE_INCLUDE_DIRECTORIES)
 
 # define libraries in legacy mode
-get_property(ct_optcon_LIB TARGET ct_optcon PROPERTY LOCATION)
+get_property(ct_optcon_LIB TARGET ct_optcon PROPERTY INTERFACE_LINK_LIBRARIES)
 list(APPEND ct_optcon_LIBRARIES ${ct_optcon_LIB})
 
 # Required for catkin_simple to link against these libraries
diff --git a/ct_optcon/cmake/externalSolvers.cmake b/ct_optcon/cmake/externalSolvers.cmake
diff --git a/ct_optcon/src/ct_optcon.cpp b/ct_optcon/src/ct_optcon.cpp
diff --git a/ct_rbd/CMakeLists.txt b/ct_rbd/CMakeLists.txt
@@ -38,9 +38,9 @@ set(ct_rbd_target_include_dirs
 
 
 ## create ct_rbd library
-add_library(ct_rbd SHARED src/ct_rbd.cpp)
-target_include_directories(ct_rbd PUBLIC ${ct_rbd_target_include_dirs})
-target_link_libraries(ct_rbd PUBLIC ct_optcon)
+add_library(ct_rbd INTERFACE)
+target_include_directories(ct_rbd INTERFACE ${ct_rbd_target_include_dirs})
+target_link_libraries(ct_rbd INTERFACE ct_optcon)
 
 
 ###########
diff --git a/ct_rbd/cmake/ct_rbdConfig.cmake.in b/ct_rbd/cmake/ct_rbdConfig.cmake.in
@@ -10,7 +10,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/ct_rbd_export.cmake)
 get_target_property(ct_rbd_INCLUDE_DIRS ct_rbd INTERFACE_INCLUDE_DIRECTORIES)
 
 # define libraries in legacy mode
-get_property(ct_rbd_LIB TARGET ct_rbd PROPERTY LOCATION)
+get_property(ct_rbd_LIB TARGET ct_rbd PROPERTY INTERFACE_LINK_LIBRARIES)
 list(APPEND ct_rbd_LIBRARIES ${ct_rbd_LIB})
 
 # Required for catkin_simple to link against these libraries
diff --git a/ct_rbd/src/ct_rbd.cpp b/ct_rbd/src/ct_rbd.cpp
