CMake API¶

install_scripts¶

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.

documentation¶

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¶: Alias of add_sphinx_documentation().

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()

sphinx¶

ADD_SPHINX_DOCUMENTATION¶

Use breathing cat to generate documentation for the current project.

This macro adds a target for the documentation that is only build/installed if GENERATE_DOCUMENTATION is set (otherwise it has no effect).

Optional Arguments:

DOXYGEN_EXCLUDE_PATTERNS: This argument is not supported anymore! Setting it will cause an error. It will be complete removed in the future. To specify exclude patterns, use a breathing-cat config file instead (see https://github.com/machines-in-motion/breathing-cat).

xacro¶

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.

xenomai¶

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.

find_modules¶

Simply add the find_modules/* to the CMAKE_MODULE_PATH.

get_python_install_dir¶

global_calls¶

generate_cmake_package¶

get_python_interpreter¶

pybind11¶

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:

NO_EXTRAS: Disables some optimisation in pybind11 (see documentation of
pybind11_add_module for details).
LINK_LIBRARIES: List of libraries that are linked to the target.
INLUCDE_DIRS: List of include directories. “include” is added by default.

dynamic_graph¶

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

os_detection¶

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" / "lowlatency"
* "non-real-time"/"ubuntu"
* "darwin" (Mac-OS)

It also discriminate between real-time and non-real-time (or low latency) OS (kernel).

doxygen¶

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/.

boost_python¶

SEARCH_FOR_BOOST_COMPONENT¶

Param boost_python_name:
Param found:

This function returns found to TRUE if the boost_python_name has been found, FALSE otherwise. This function is for internal use only.

EXPORT_BOOST_DEFAULT_OPTIONS¶: This function allows to export the default options for detecting Boost components.

SEARCH_FOR_BOOST_PYTHON([REQUIRED])¶: Find boost-python component. For boost >= 1.67.0, FindPython macro should be called first in order to automatically detect the right boost-python component version according to the Python version (2.7 or 3.x).

TARGET_LINK_BOOST_PYTHON (TARGET <PRIVATE|PUBLIC|INTERFACE>)¶

Link target againt boost_python library.

Target:: is either a library or an executable :private,public,interface: The

PUBLIC, PRIVATE and INTERFACE keywords can be used to specify both the link dependencies and the link interface.

On darwin systems, boost_python is not linked against any python library. This linkage is resolved at execution time via the python interpreter. We then need to stipulate that boost_python has unresolved symbols at compile time for a library target. Otherwise, for executables we need to link to a specific version of python.