CMakeLists.txt

cmake_minimum_required(VERSION 3.22)

# Project properties
set(PROJECT_ORG loco-3d)
set(PROJECT_NAME ndcurves)
set(PROJECT_DESCRIPTION "create and manipulate spline and bezier curves.")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")

# Project options
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)

# Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR TRUE)

# JRL-cmakemodule setup
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
    get_property(
        JRL_CMAKE_MODULES
        TARGET jrl-cmakemodules::jrl-cmakemodules
        PROPERTY INTERFACE_INCLUDE_DIRECTORIES
    )
    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
else()
    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
    include(FetchContent)
    FetchContent_Declare(
        "jrl-cmakemodules"
        GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
    )
    FetchContent_MakeAvailable("jrl-cmakemodules")
    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()

include("${JRL_CMAKE_MODULES}/base.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
include(CMakeDependentOption)

cmake_dependent_option(
    GENERATE_PYTHON_STUBS
    "Generate the Python stubs associated to the Python library"
    OFF
    BUILD_PYTHON_INTERFACE
    ON
)

set_default_cmake_build_type("Release")

# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 ENFORCE)

# Project dependencies
find_package(Eigen3 QUIET NO_CMAKE_PACKAGE_REGISTRY)
if(Eigen3_FOUND)
    add_project_dependency(Eigen3 REQUIRED NO_CMAKE_PACKAGE_REGISTRY
                           PKG_CONFIG_REQUIRES eigen3
    )
else(Eigen3_FOUND)
    add_project_dependency(Eigen3 MODULE REQUIRED PKG_CONFIG_REQUIRES eigen3)
endif(Eigen3_FOUND)
find_package(pinocchio QUIET)
option(
    CURVES_WITH_PINOCCHIO_SUPPORT
    "Build with pinocchio support"
    ${pinocchio_FOUND}
)
if(CURVES_WITH_PINOCCHIO_SUPPORT)
    if(NOT pinocchio_FOUND)
        message(
            FATAL_ERROR
            "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found"
        )
    endif(NOT pinocchio_FOUND)
    add_project_dependency(pinocchio REQUIRED PKG_CONFIG_REQUIRES)
    pkg_config_append_cflags("-DCURVES_WITH_PINOCCHIO_SUPPORT")
endif(CURVES_WITH_PINOCCHIO_SUPPORT)
set(PACKAGE_EXTRA_MACROS
    "SET(CURVES_WITH_PINOCCHIO_SUPPORT ${CURVES_WITH_PINOCCHIO_SUPPORT})"
)

add_project_dependency(Boost REQUIRED COMPONENTS serialization)

if(BUILD_PYTHON_INTERFACE)
    add_project_dependency(eigenpy 3.0.0 REQUIRED PKG_CONFIG_REQUIRES
                           "eigenpy >= 3.0.0"
    )
endif()

# Main Library
set(${PROJECT_NAME}_HEADERS
    include/${PROJECT_NAME}/bernstein.h
    include/${PROJECT_NAME}/bezier_curve.h
    include/${PROJECT_NAME}/constant_curve.h
    include/${PROJECT_NAME}/cross_implementation.h
    include/${PROJECT_NAME}/cubic_hermite_spline.h
    include/${PROJECT_NAME}/curve_abc.h
    include/${PROJECT_NAME}/curve_constraint.h
    include/${PROJECT_NAME}/curve_conversion.h
    include/${PROJECT_NAME}/exact_cubic.h
    include/${PROJECT_NAME}/fwd.h
    include/${PROJECT_NAME}/helpers/effector_spline.h
    include/${PROJECT_NAME}/helpers/effector_spline_rotation.h
    include/${PROJECT_NAME}/linear_variable.h
    include/${PROJECT_NAME}/MathDefs.h
    include/${PROJECT_NAME}/optimization/definitions.h
    include/${PROJECT_NAME}/optimization/details.h
    include/${PROJECT_NAME}/optimization/integral_cost.h
    include/${PROJECT_NAME}/optimization/quadratic_problem.h
    include/${PROJECT_NAME}/piecewise_curve.h
    include/${PROJECT_NAME}/polynomial.h
    include/${PROJECT_NAME}/python/python_definitions.h
    include/${PROJECT_NAME}/quadratic_variable.h
    include/${PROJECT_NAME}/se3_curve.h
    include/${PROJECT_NAME}/serialization/archive.hpp
    include/${PROJECT_NAME}/serialization/curves.hpp
    include/${PROJECT_NAME}/serialization/eigen-matrix.hpp
    include/${PROJECT_NAME}/serialization/registeration.hpp
    include/${PROJECT_NAME}/sinusoidal.h
    include/${PROJECT_NAME}/so3_linear.h
    include/${PROJECT_NAME}/so3_smooth.h
)

if(BUILD_STANDALONE_PYTHON_INTERFACE)
    add_project_dependency(${PROJECT_NAME} REQUIRED)
    set(PROJECT_EXPORT_NO_TARGET ON)
else()
    add_library(${PROJECT_NAME} INTERFACE)
    add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
    modernize_target_link_libraries(
      ${PROJECT_NAME}
      SCOPE
      INTERFACE
      TARGETS
      Eigen3::Eigen
      INCLUDE_DIRS
      ${EIGEN3_INCLUDE_DIR}
    )
    target_include_directories(
        ${PROJECT_NAME}
        INTERFACE
            $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
            $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
    )
    target_link_libraries(${PROJECT_NAME} INTERFACE Boost::serialization)
    if(CURVES_WITH_PINOCCHIO_SUPPORT)
        target_link_libraries(
            ${PROJECT_NAME}
            INTERFACE pinocchio::pinocchio_headers
        )
        target_compile_definitions(
            ${PROJECT_NAME}
            INTERFACE -DCURVES_WITH_PINOCCHIO_SUPPORT
        )
    endif(CURVES_WITH_PINOCCHIO_SUPPORT)

    # Define M_PI constant in <cmath>
    cxx_flags_by_compiler_frontend(MSVC _USE_MATH_DEFINES OUTPUT
                                   PUBLIC_DEFINITION
    )
    target_compile_definitions(${PROJECT_NAME} INTERFACE ${PUBLIC_DEFINITION})
endif()

if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
    install(
        TARGETS ${PROJECT_NAME}
        EXPORT ${TARGETS_EXPORT_NAME}
        DESTINATION lib
    )
endif()

if(BUILD_PYTHON_INTERFACE)
    add_subdirectory(python)
endif(BUILD_PYTHON_INTERFACE)

if(BUILD_TESTING AND NOT BUILD_STANDALONE_PYTHON_INTERFACE)
    add_subdirectory(tests)
endif()