CMake API¶

cmake/documentation.cmake¶

CREATE_DOC_TARGET¶
Create a target called doc. This target allows you do perform:
make doc
This target is created by default in the cmake/global_calls.cmake. It can be built by default if one set the CMake variable GENERATE_DOCUMENTATION to on:
cmake .. -DGENERATE_DOCUMENTATION=ON
ADD_DOCUMENTATION¶

Create targets that are dependencies to the doc target. It builds the documentation html output using the classic Doxygen output and the rather more modern Sphinx/Read-the-doc output. Eventually only the read-the-doc output will remain.

Warning

The following is deprecated. It is used for backward support.

BUILD_DOCUMENTATION¶

See ADD_DOCUMENTATION()

BUILD_DOXYGEN_DOCUMENTATION¶

See ADD_DOXYGEN_DOCUMENTATION()

BUILD_SPHINX_DOCUMENTATION¶

See ADD_SPHINX_DOCUMENTATION()

cmake/doxygen.cmake¶

ADD_DOXYGEN_DOCUMENTATION¶

Builds the doxygen html documentation of a package. The Doxyfile is set to parse the Markdown files in the doc/ folder, the Python file in the python/ folder and the C/C++ files. The output is gnerated in install/${PROJECT_NAME}/share/docs/doxygen/html/.

cmake/dynamic_graph.cmake¶

GET_DYNAMIC_GRAPH_PLUGIN_INSTALL_PATH(INSTALL_DYNAMIC_GRAPH_PLUGIN_PATH)¶

Get the install dir for the plugin to install them in the correct place.

Param INSTALL_DYNAMIC_GRAPH_PLUGIN_PATH

path to the dynamic graph plugin

cmake-format: on

INSTALL_DYNAMIC_GRAPH_PLUGIN_PYTHON_BINDINGS(PLUGIN_TARGET)¶

This file allows us to install the Python bindings of the dynamic graph at the correct place.

Add a python submodule to dynamic_graph

Param plugin_target

target (library) name of the dynamic graph plugin,

cmake-format: on

cmake/find_modules.cmake¶

Simply add the find_modules/* to the CMAKE_MODULE_PATH.

cmake/find_modules/FindPythonModules.cmake¶

cmake/find_modules/Findcereal.cmake¶

Finds the cereal library.

This module provides the following imported targets, if found:

cereal::cereal
The cereal interface library.

This will define the following variables:

cereal_FOUND
True if the system has the cereal library.

cereal_VERSION
The version of the cereal library which was found.

cereal_INCLUDE_DIRS
Include directories needed to use cereal.

cereal_LIBRARIES
Libraries needed to link to cereal. This will be empty as this is a header only library.

The following cache variables may also be set:

cereal_INCLUDE_DIR
The directory containing cereal.h.

cereal_LIBRARY
The path to the cereal library.

cmake/find_modules/Findrt.cmake¶

Finds the rt library.

This module provides the following imported targets, if found:

rt::rt
The rt interface library.

This will define the following variables:

rt_FOUND
True if the system has the rt library.

rt_VERSION
The version of the rt library which was found.

rt_INCLUDE_DIRS
Include directories needed to use rt.

rt_LIBRARIES
Libraries needed to link to rt. This will be empty as this is a header only library.

The following cache variables may also be set:

rt_INCLUDE_DIR
The directory containing rt.h.

rt_LIBRARY
The path to the rt library.

cmake/find_modules/XenomaiConfig.cmake¶

Find the Xenamai library. Usage:
find_package(Xenomai REQUIRED)

cmake/find_modules/python/FindPython.cmake¶

cmake/generate_cmake_package.cmake¶

cmake/get_python_install_dir.cmake¶

cmake/get_python_interpreter.cmake¶

cmake/global_calls.cmake¶

cmake/install_scripts.cmake¶

Install scripts without their file extension.

INSTALL_SCRIPTS¶

Expects as argument a list of files and a DESTINATION parameter with an installation destination.

The files are installed as programs (i.e. as executables) with the file extension (e.g. “.py”) striped from their names.

cmake/os_detection.cmake¶

This file allows us to detect which linux os we are using to compile the code.
DEFINE_OS¶
Executes uname -a to detect the OS and sets some flags accordingly. Alternatively, the target OS can explicitly be specified by setting the variable OS_VERSION before calling this macro (useful for cross compiling).

Supported OS_VERSIONs are:
* "xenomai"
* "preempt-rt"
* "non-real-time"/"ubuntu"
* "darwin" (Mac-OS)
It also discriminate between real-time and non-real-time OS.

cmake/print_target_properties.cmake¶

cmake/pybind11.cmake¶

Add a Python module using pybind11

ADD_PYBIND11_MODULE¶

Create a pybind11 module. First argument is the target name (needs to match the name of the Python module!) followed by a list of source files.

Optional arguments:

LINK_LIBRARIES: List of libraries that are linked to the target.

INLUCDE_DIRS: List of include directories. “include” is added by default.

cmake/sphinx.cmake¶

_BUILD_DOXYGEN¶

Use doxygen to parse the C++ source files and generate a corresponding xml entry.

_BUILD_BREATHE_APIDOC¶

Use breathe_apidoc to parse the xml output from Doxygen and generate .rst files.

_BUILD_SPHINX_API_DOC¶

Use sphinx_apidoc to parse the python files output from Doxygen and generate .rst files.

_BUILD_SPHINX_BUILD¶

Use sphinx_build to parse the cmake and rst files previously generated and generate the final html layout.
_FIND_README¶
Search for a README with the given file extension and, if found, return its name using OUTPUT_VAR. Example to search for ‘readme.md’:
_FIND_README(readme_file "md")
ADD_SPHINX_DOCUMENTATION¶
Process the current project in order to generate a specific documentation content. This macro generates the appropriate documentation if is detects the corresponding files:
* *files* with the extensions {.h, .cpp, ...} generates
  the *C++ API* section.
* the *python* folder will generate the *Python API* section.
* the *cmake* folder will generate the *CMake API* section.
* the *doc* folder containing markdown files (*.md*) will generate the
  *Additionnal Documentation* section.
The following macros are called in order and if needed:: * :command: _BUILD_DOXYGEN * :command: _BUILD_BREATHE_APIDOC * :command: _BUILD_SPHINX_API_DOC * :command: _BUILD_SPHINX_BUILD

Please refer to the Sphinx paragraph in the General Documentation in this package for more explanation about the parametrization of the tools.

cmake/xacro.cmake¶

Build the documentation based on sphinx and the read_the_doc layout.

BUILD_XACRO_FILES¶

This looks for any files ending with .urdf.xacro in the [package_root]/xacro folder. Then it calls the xacro command on each and every file found. It then declare a target whith the xacro command.

Note

This all boils down to the following fact, at compile time the [package_root]/urdf/.urdf files are going to be compiled from the [package_root]/xacro/.urdf.xacro files.

cmake/xenomai.cmake¶

SETUP_XENOMAI¶

calls xeno-config

add suitable libraries to linked directories

add suitable directories to include directories

setup variable Xenomai_LIBS.

Note

Has been tested only on Xenomai 2.6.