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Allow static library builds #64

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Allow static library builds #64

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72e61e5
Enable static library building
jslee02 Sep 30, 2015
e40bcd8
Add config.h to pass URDFDOM_STATIC definition to client libraries
jslee02 Oct 1, 2015
25d4010
Remove unintended lines in CMakeLists.txt and modify logic of setting…
jslee02 Oct 1, 2015
6d8e971
Merge remote-tracking branch 'upstream/master' into static_build
jslee02 Dec 9, 2015
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18 changes: 18 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,17 @@ if (HAS_VISIBILITY)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
endif()

# Using dynamic linking by default
option(BUILD_SHARED_LIBS "Build shared libraries" ON)

# If building static libraries, set URDFDOM_STATIC definition for symbol
# visibility settings.
if (BUILD_SHARED_LIBS)
set(URDFDOM_STATIC FALSE)
else()
set(URDFDOM_STATIC TRUE)
endif()

# This shouldn't be necessary, but there has been trouble
# with MSVC being set off, but MSVCXX ON.
if(MSVC OR MSVC90 OR MSVC10)
Expand All @@ -34,6 +45,8 @@ endif (MSVC OR MSVC90 OR MSVC10)

set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

include_directories("${CMAKE_CURRENT_BINARY_DIR}/urdf_parser/include/urdf_parser")

find_package(TinyXML REQUIRED)
include_directories(SYSTEM ${TinyXML_INCLUDE_DIRS})

Expand Down Expand Up @@ -83,6 +96,11 @@ if (NOT MSVC)
DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
endif()

set(config_file "urdf_parser/include/urdf_parser/config.h")
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${config_file}.in" "${CMAKE_CURRENT_BINARY_DIR}/${config_file}" @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${config_file}"
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/urdf_parser/ COMPONENT headers)

add_subdirectory(urdf_parser_py)

message(STATUS "Configuration successful. Type make to compile urdfdom")
Expand Down
10 changes: 5 additions & 5 deletions urdf_parser/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
include_directories(include)

add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
add_library(urdfdom_world src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(urdfdom_world PROPERTIES SOVERSION 0.3)

add_library(urdfdom_model SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp)
add_library(urdfdom_model src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp)
target_link_libraries(urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(urdfdom_model PROPERTIES SOVERSION 0.3)

add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
add_library(urdfdom_sensor src/urdf_sensor.cpp)
target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(urdfdom_sensor PROPERTIES SOVERSION 0.3)

add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
add_library(urdfdom_model_state src/urdf_model_state.cpp src/twist.cpp)
target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(urdfdom_model_state PROPERTIES SOVERSION 0.3)

Expand All @@ -39,4 +39,4 @@ INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
DESTINATION ${CMAKE_INSTALL_BINDIR})
INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} FILES_MATCHING PATTERN "*.h")
14 changes: 14 additions & 0 deletions urdf_parser/include/urdf_parser/config.h.in
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
/* config.h. Generated by CMake for @PROJECT_NAME@. */
#ifndef URDF_PARSER_CONFIG_H
#define URDF_PARSER_CONFIG_H

/* Version number */
#define URDF_MAJOR_VERSION @URDF_MAJOR_VERSION@
#define URDF_MINOR_VERSION @URDF_MINOR_VERSION@
#define URDF_PATCH_VERSION @URDF_PATCH_VERSION@
#define URDF_VERSION "@URDF_VERSION@"

#cmakedefine URDFDOM_STATIC 1

#endif // #ifndef URDF_PARSER_CONFIG_H

2 changes: 2 additions & 0 deletions urdf_parser/include/urdf_parser/exportdecl.h
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Expand Up @@ -37,6 +37,8 @@
#ifndef URDFDOM_EXPORTDECL_H
# define URDFDOM_EXPORTDECL_H

#include "config.h"

// Handle portable symbol export.
// Defining manually which symbol should be exported is required
// under Windows whether MinGW or MSVC is used.
Expand Down