CMakeLists.txt

#
# Copyright (c) 2014 CNRS
# Authors: Florent Lamiraux
#
#
# This file is part of hpp_benchmark
# hpp_benchmark is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp_benchmark is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# hpp_benchmark  If not, see
# <http://www.gnu.org/licenses/>.

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

SET(PROJECT_NAME hpp_benchmark)
SET(PROJECT_DESCRIPTION "Benchmarks for humanoid path planner platform.")
SET(INSTALL_DOCUMENTATION OFF)

SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake/python.cmake)

COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})

FINDPYTHON()

ADD_PROJECT_DEPENDENCY(hpp-core 4)
ADD_PROJECT_DEPENDENCY(hpp-corbaserver 4 REQUIRED)
ADD_PROJECT_DEPENDENCY(hpp-gepetto-viewer 4 REQUIRED)
ADD_PROJECT_DEPENDENCY(hpp-manipulation-urdf 4 REQUIRED)

SET(CATKIN_PACKAGE_SHARE_DESTINATION
  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})

install(FILES
  package.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )
install(FILES
  urdf/lydia.urdf
  urdf/obstacle.urdf
  urdf/obstacle_medium.urdf
  urdf/obstacle_easy.urdf
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
  )
install(FILES srdf/lydia.srdf
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
  )
install (FILES
  src/hpp/corbaserver/lydia/robot.py
  src/hpp/corbaserver/lydia/__init__.py
  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/lydia)

install(FILES
  future/baxter-manipulation-boxes/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/baxter-manipulation-boxes)

install(FILES
  future/construction-set/script.py
  future/construction-set/setup.py
  future/construction-set/state_name.py
  future/construction-set/visibility_prm.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/construction-set)

install(FILES
  future/pyrene-on-the-ground/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/pyrene-on-the-ground)

install(FILES
  future/pr2-in-iai-kitchen/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/pr2-in-iai-kitchen)

install(FILES
  future/pr2-manipulation-kitchen/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/pr2-manipulation-kitchen)

install(FILES
  future/pr2-manipulation-two-hand/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/pr2-manipulation-two-hand)

install(FILES
  future/romeo-placard/script.py
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/romeo-placard)

ADD_SUBDIRECTORY(src)

file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/images/cpp)
if(false)
add_custom_target(images
  ${PYTHON_EXECUTABLE} script/parse_and_generate_python_benchmark_plots.py ${CMAKE_BINARY_DIR}/images
  COMMAND ${PYTHON_EXECUTABLE} script/parse_and_generate_cpp_benchmark_plots.py ${CMAKE_BINARY_DIR}/images/cpp
  COMMENT "Generating benchmark images"
  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
  )
add_dependencies(doc images)
else()
set(ALL_GENERATED_IMAGES
  "${CMAKE_BINARY_DIR}/images/baxter-manipulation-boxes.svg"
  "${CMAKE_BINARY_DIR}/images/baxter-manipulation-boxes-easy.svg"
  "${CMAKE_BINARY_DIR}/images/baxter-two-arms-three-boxes.svg"
  "${CMAKE_BINARY_DIR}/images/baxter-two-arms-two-boxes.svg"
  "${CMAKE_BINARY_DIR}/images/construction-set.svg"
  "${CMAKE_BINARY_DIR}/images/pyrene-on-the-ground.svg"
  "${CMAKE_BINARY_DIR}/images/pr2-in-iai-kitchen.svg"
  "${CMAKE_BINARY_DIR}/images/pr2-manipulation-kitchen.svg"
  "${CMAKE_BINARY_DIR}/images/pr2-manipulation-two-hand.svg"
  "${CMAKE_BINARY_DIR}/images/romeo-placard.svg"
  "${CMAKE_BINARY_DIR}/images/ur3-spheres.svg"
  "${CMAKE_BINARY_DIR}/images/ur5-spline-optimization.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/pr2_in_iai_maps.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/pyrene_on_the_ground.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Explicit left hand.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Explicit right hand.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Implicit both hands.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Implicit right hand.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Explicit both hands.svg"
  "${CMAKE_BINARY_DIR}/images/cpp/implicit_versus_explicit_Implicit left hand.svg"
  )
add_custom_command(OUTPUT ${ALL_GENERATED_IMAGES}
  COMMAND ${PYTHON_EXECUTABLE} script/parse_and_generate_python_benchmark_plots.py ${CMAKE_BINARY_DIR}/images
  COMMAND ${PYTHON_EXECUTABLE} script/parse_and_generate_cpp_benchmark_plots.py ${CMAKE_BINARY_DIR}/images/cpp
  COMMENT "Generating benchmark images"
  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
  )
add_custom_target(images DEPENDS ${ALL_GENERATED_IMAGES})
endif()
ADD_SUBDIRECTORY(python)