Merge pull request #2333 from jorisv/topic/workspace

Enable jrl-cmakemodules workspace compatiblity

.github/workflows/check_label.yml

@@ -10,7 +10,7 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v4
-        
+
       - name: Verify Pull Request Labels
         uses: actions/github-script@v7
         with:

.pre-commit-config.yaml

@@ -45,5 +45,4 @@ repos:
     rev: 0.2.3
     hooks:
       - id: yamlfmt
-        args: [--mapping=2, --offset=2, --sequence=4, --implicit_start]
-        exclude: ^.github/workflows/linux.yml$
+        args: [--mapping=2, --offset=2, --sequence=4, --implicit_start, --preserve-quotes]

CHANGELOG.md

@@ -16,6 +16,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Added
 - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
 - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) ([#2323](https://github.com/stack-of-tasks/pinocchio/pull/2323))
+- Add compatibility with jrl-cmakemodules workspace ([#2333](https://github.com/stack-of-tasks/pinocchio/pull/2333))
 
 ### Changed
 - Use eigenpy to expose `GeometryObject::meshMaterial` variant ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))

CMakeLists.txt

@@ -15,6 +15,9 @@ set(PROJECT_USE_CMAKE_EXPORT TRUE)
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
 set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
 set(PINOCCHIO_PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
+# To enable jrl-cmakemodules compatibility with workspace we must define the two following lines
+set(PROJECT_AUTO_RUN_FINALIZE FALSE)
+set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
 
 # Disable -Werror on Unix for now.
 set(CXX_DISABLE_WERROR True)
@@ -68,16 +71,17 @@ include("${JRL_CMAKE_MODULES}/base.cmake")
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
+include("${JRL_CMAKE_MODULES}/python.cmake")
 include("${JRL_CMAKE_MODULES}/boost.cmake")
 include("${JRL_CMAKE_MODULES}/ide.cmake")
 include("${JRL_CMAKE_MODULES}/apple.cmake")
 if(APPLE) # Use the handmade approach
   if(${CMAKE_VERSION} VERSION_LESS "3.18.0") # Need to find the right version
-    set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP ${CMAKE_MODULE_PATH})
+    set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/OpenMP ${CMAKE_MODULE_PATH})
   endif()
 elseif(UNIX)
   if(${CMAKE_VERSION} VERSION_EQUAL "3.20.0")
-    set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP ${CMAKE_MODULE_PATH})
+    set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/OpenMP ${CMAKE_MODULE_PATH})
   endif()
 endif()
 include(CMakeDependentOption)
@@ -186,7 +190,7 @@ set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
 # ----------------------------------------------------
 # --- DEPENDENCIES -----------------------------------
 # ----------------------------------------------------
-set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/find-external/CppAD/" ${CMAKE_MODULE_PATH})
+set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/CppAD/" ${CMAKE_MODULE_PATH})
 add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
 
 if(BUILD_WITH_URDF_SUPPORT)
@@ -277,6 +281,7 @@ if(BUILD_PYTHON_INTERFACE)
   )
 
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
+  findpython(REQUIRED)
   add_project_dependency(eigenpy 2.7.10 REQUIRED)
 
   if(BUILD_WITH_URDF_SUPPORT)
@@ -492,6 +497,7 @@ if(BUILD_WITH_EXTRA_SUPPORT)
   export_variable(PINOCCHIO_USE_EXTRA ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_EXTRA \"\")")
 endif()
+export_variable(pinocchio_VERSION ${pinocchio_VERSION})
 
 # Setup pkg-configs flags and libs
 pkg_config_append_libs("${LIBRARIES_DEPENDENCIES}")
@@ -515,3 +521,5 @@ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.ds
      "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
         DESTINATION share/${PROJECT_NAME}/hook)
+
+setup_project_finalize()

bindings/python/CMakeLists.txt

@@ -5,9 +5,8 @@
 
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 include(${JRL_CMAKE_MODULES}/stubs.cmake)
-set(CMAKE_MODULE_PATH
-    "${PINOCCHIO_PROJECT_SOURCE_DIR}/cmake/find-external/GMP"
-    "${PINOCCHIO_PROJECT_SOURCE_DIR}/cmake/find-external/MPFR" ${CMAKE_MODULE_PATH})
+set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/GMP"
+                      "${JRL_CMAKE_MODULES}/find-external/MPFR" ${CMAKE_MODULE_PATH})
 
 # --- PYTHON TARGET --- #
 set(PYWRAP ${PROJECT_NAME}_pywrap)
@@ -43,7 +42,7 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
     # OpenMP is linked with pinocchio_parallel target
     target_compile_definitions(${PYTHON_LIB_NAME} PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP)
   endif()
-  add_dependencies(python ${PYTHON_LIB_NAME})
+  add_dependencies(${PROJECT_NAME}_python ${PYTHON_LIB_NAME})
 
   # Remove lib prefix for the target and use the right define for DLLAPI definition
   set_target_properties(${PYTHON_LIB_NAME} PROPERTIES PREFIX "" DEFINE_SYMBOL "${PYWRAP}_EXPORTS")
@@ -103,9 +102,9 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
     PROPERTIES PREFIX ""
                SUFFIX ${PYTHON_EXT_SUFFIX}
                OUTPUT_NAME "${PYTHON_LIB_NAME}"
-               LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                # On Windows, shared library are treat as binary
-               RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+               RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 
   if(UNIX AND NOT APPLE)
     get_relative_rpath(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
@@ -138,11 +137,11 @@ function(INSTALL_PYTHON_FILES)
 endfunction()
 
 if(BUILD_PYTHON_INTERFACE)
-  add_custom_target(python)
-  set_target_properties(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
+  add_custom_target(${PROJECT_NAME}_python)
+  set_target_properties(${PROJECT_NAME}_python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
   python_build_get_target(python_build_target)
-  add_dependencies(python ${python_build_target})
+  add_dependencies(${PROJECT_NAME}_python ${python_build_target})
 
   set(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 2.6.5")
   if(IS_ABSOLUTE ${PYTHON_SITELIB})

doc/Doxyfile.extra.in

@@ -280,7 +280,7 @@ WARN_FORMAT            = "$file:$line: $text"
 # and error messages should be written. If left blank the output is written
 # to stderr.
 
-WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log
+WARN_LOGFILE           = @PROJECT_BINARY_DIR@/doc/doxygen.log
 
 #---------------------------------------------------------------------------
 # configuration options related to the input files
@@ -291,8 +291,8 @@ WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log
 # directories like "/usr/src/myproject". Separate the files or directories
 # with spaces.
 
-INPUT                 = @CMAKE_SOURCE_DIR@/doc \
-                        @CMAKE_SOURCE_DIR@/include
+INPUT                 = @PROJECT_SOURCE_DIR@/doc \
+                        @PROJECT_SOURCE_DIR@/include
 
 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
 # should be searched for input files as well. Possible values are YES and NO.
@@ -315,10 +315,10 @@ FILE_PATTERNS          = *.cc *.cpp *.h *.hpp *.hh *.dox *.md *.py
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-#EXCLUDE                = @CMAKE_SOURCE_DIR@/doc/d-practical-exercises/src
+#EXCLUDE                = @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
 
 # Put them back for inclusion as whole files
-HTML_EXTRA_FILES       += @CMAKE_SOURCE_DIR@/doc/d-practical-exercises/src
+HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -362,7 +362,7 @@ EXCLUDE_SYMBOLS        = internal::* \
 # directories that contain image that are included in the documentation (see
 # the \image command).
 
-IMAGE_PATH             = @CMAKE_SOURCE_DIR@/doc/pictures
+IMAGE_PATH             = @PROJECT_SOURCE_DIR@/doc/pictures
 
 
 #---------------------------------------------------------------------------

examples/CMakeLists.txt

@@ -12,7 +12,7 @@ function(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   cmake_parse_arguments(example "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
   get_filename_component(EXAMPLE_NAME ${EXAMPLE} NAME)
-  set(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
+  set(EXAMPLE_NAME "${PROJECT_NAME}-example-cpp-${EXAMPLE_NAME}")
   add_unit_test(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   target_link_libraries(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 
@@ -39,7 +39,8 @@ function(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   if(WIN32)
     string(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
     set(ENV_VARIABLES
-        "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+        "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
+    )
     set_tests_properties(${EXAMPLE_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
 endfunction()
@@ -111,7 +112,7 @@ if(BUILD_PYTHON_INTERFACE)
   endif()
 
   foreach(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
-    set(EXAMPLE_NAME "example-py-${EXAMPLE}")
+    set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
     add_python_unit_test("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
     add_windows_dll_path_to_test(${EXAMPLE_NAME})
   endforeach()

examples/autodiff/CMakeLists.txt

@@ -6,7 +6,8 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
   function(ADD_PINOCCHIO_CPP_AUTODIFF_EXAMPLE EXAMPLE)
     include_directories(SYSTEM ${cppadcg_INCLUDE_DIR})
     add_pinocchio_cpp_example(${EXAMPLE})
-    target_link_libraries(example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY})
+    target_link_libraries(${PROJECT_NAME}-example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS}
+                                                                        ${cppad_LIBRARY})
   endfunction()
 
   add_pinocchio_cpp_autodiff_example(autodiff-rnea)
@@ -15,10 +16,10 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
     set(${PROJECT_NAME}_AUTODIFF_PYTHON_EXAMPLES autodiff-rnea)
 
     foreach(EXAMPLE ${${PROJECT_NAME}_AUTODIFF_PYTHON_EXAMPLES})
-      set(EXAMPLE_NAME "example-py-${EXAMPLE}")
+      set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
       add_python_unit_test(${EXAMPLE_NAME} "examples/autodiff/${EXAMPLE}.py" "bindings/python")
       add_windows_dll_path_to_test(${EXAMPLE_NAME})
-    endforeach(EXAMPLE ${${PROJECT_NAME}_AUTODIFF_PYTHON_EXAMPLES})
-  endif(BUILD_PYTHON_INTERFACE)
+    endforeach()
+  endif()
 
-endif(BUILD_WITH_AUTODIFF_SUPPORT)
+endif()

examples/codegen/CMakeLists.txt

@@ -10,8 +10,8 @@ if(cppadcg_FOUND
       ${EXAMPLE}
       CPPADCG
       PARSERS)
-    target_link_libraries(example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS})
-    target_compile_definitions(example-cpp-${EXAMPLE}
+    target_link_libraries(${PROJECT_NAME}-example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS})
+    target_compile_definitions(${PROJECT_NAME}-example-cpp-${EXAMPLE}
                                PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
   endfunction()
 
@@ -22,13 +22,10 @@ if(cppadcg_FOUND
     set(${PROJECT_NAME}_CODEGEN_PYTHON_EXAMPLES codegen-rnea)
 
     foreach(EXAMPLE ${${PROJECT_NAME}_CODEGEN_PYTHON_EXAMPLES})
-      set(EXAMPLE_NAME "example-py-${EXAMPLE}")
+      set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
       add_python_unit_test(${EXAMPLE_NAME} "examples/codegen/${EXAMPLE}.py" "bindings/python")
       add_windows_dll_path_to_test(${EXAMPLE_NAME})
-    endforeach(EXAMPLE ${${PROJECT_NAME}_CODEGEN_PYTHON_EXAMPLES})
-  endif(BUILD_PYTHON_INTERFACE)
+    endforeach()
+  endif()
 
-endif(
-  cppadcg_FOUND
-  AND BUILD_WITH_CODEGEN_SUPPORT
-  AND BUILD_WITH_URDF_SUPPORT)
+endif()

src/CMakeLists.txt

@@ -39,8 +39,9 @@ modernize_target_link_libraries(
   INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 
 target_include_directories(
-  ${PROJECT_NAME}_headers INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-                                    $<INSTALL_INTERFACE:include>)
+  ${PROJECT_NAME}_headers
+  INTERFACE $<INSTALL_INTERFACE:include> $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+            $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 
 cxx_flags_by_compiler_frontend(
   MSVC "/bigobj"
@@ -107,7 +108,10 @@ function(PINOCCHIO_TARGET target_name)
       PRIVATE PINOCCHIO_CONTEXT_FILE="${PINOCCHIO_CONTEXT_FILE_VALUE}")
   endif()
 
-  target_include_directories(${LIB_NAME} ${LIBRARY_PUBLIC_SCOPE} $<INSTALL_INTERFACE:include>)
+  target_include_directories(
+    ${LIB_NAME} ${LIBRARY_PUBLIC_SCOPE} $<INSTALL_INTERFACE:include>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 
   if(BUILD_WITH_COMMIT_VERSION)
     tag_library_version(${LIB_NAME})
@@ -321,6 +325,7 @@ endif()
 
 # Define main target (default, parsers, extra).
 add_library(${PROJECT_NAME} INTERFACE)
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 if(ENABLE_TEMPLATE_INSTANTIATION)
   target_link_libraries(${PROJECT_NAME} INTERFACE ${PROJECT_NAME}_default)
 endif()

unittest/CMakeLists.txt

@@ -25,7 +25,7 @@ function(GET_CPP_TEST_NAME name src_dir full_test_name)
   string(REGEX REPLACE "[/]" "-" prefix_name "${prefix_name}-")
 
   set(${full_test_name}
-      "test-cpp${prefix_name}${name}"
+      "${PROJECT_NAME}-test-cpp${prefix_name}${name}"
       PARENT_SCOPE)
 endfunction()
 
@@ -62,7 +62,8 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
   if(WIN32)
     string(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
     set(ENV_VARIABLES
-        "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+        "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
+    )
     set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
 
@@ -103,11 +104,6 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
   endif()
 endfunction()
 
-macro(ADD_OPTIONAL_COMPILE_DEPENDENCY PKG_CONFIG_STRING)
-  _get_pkg_config_debug_string("${PKG_CONFIG_STRING}" ${ARGN})
-  add_dependency(0 1 ${PKG_CONFIG_STRING} "${PKG_CONFIG_DEBUG_STRING}")
-endmacro()
-
 macro(ADD_PINOCCHIO_PARALLEL_UNIT_TEST NAME)
   if(BUILD_WITH_OPENMP_SUPPORT)
     add_pinocchio_unit_test(${ARGV} PARALLEL)
@@ -228,25 +224,22 @@ endif()
 
 if(BUILD_WITH_LIBPYTHON)
   add_pinocchio_unit_test(python_parser PACKAGES Python3::Python)
-  target_include_directories(test-cpp-python_parser SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
-
-  target_link_libraries(test-cpp-python_parser PUBLIC ${PYWRAP}_default)
-  target_link_libraries(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
-  get_test_property(test-cpp-python_parser ENVIRONMENT ENV_VARIABLES)
+  get_cpp_test_name(python_parser ${CMAKE_CURRENT_SOURCE_DIR} python_parser_target)
+  target_include_directories(${python_parser_target} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
+
+  target_link_libraries(${python_parser_target} PUBLIC ${PYWRAP}_default)
+  target_link_libraries(${python_parser_target} PUBLIC ${PYTHON_LIBRARIES})
+  get_test_property(${python_parser_target} ENVIRONMENT ENV_VARIABLES)
+  compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python")
+  list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES})
   if(WIN32)
-    get_filename_component(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
-    list(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
-    unset(PYTHONHOME)
-    string(REPLACE ";" "\\\;" _PYTHONPATH "$ENV{PYTHONPATH}")
-    list(APPEND ENV_VARIABLES "PYTHONPATH=${_PYTHONPATH}\\\;${CMAKE_BINARY_DIR}/bindings/python")
-  else()
-    list(APPEND ENV_VARIABLES "PYTHONPATH=$ENV{PYTHONPATH}:${CMAKE_BINARY_DIR}/bindings/python")
+    # This line is mandatory because of Github action. The test run well on Windowns + Conda. This
+    # hide something wrong. Maybe the test is linking against the wrong Python library or call the
+    # wrong interpreter.
+    get_filename_component(_PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
+    list(APPEND ENV_VARIABLES "PYTHONHOME=${_PYTHONHOME}")
   endif()
-  if(APPLE)
-    list(APPEND ENV_VARIABLES "LD_LIBRARY_PATH=$ENV{LD_LIBRARY_PATH}")
-    list(APPEND ENV_VARIABLES "DYLD_LIBRARY_PATH=$ENV{DYLD_LIBRARY_PATH}")
-  endif()
-  set_tests_properties(test-cpp-python_parser PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  set_tests_properties(${python_parser_target} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   add_subdirectory(python)
 endif()
 
@@ -311,9 +304,6 @@ add_subdirectory(algorithm)
 if(BUILD_ADVANCED_TESTING)
   add_pinocchio_unit_test(multiprecision)
 
-  add_optional_compile_dependency(gmp)
-  add_optional_compile_dependency(mpfr)
-
   if(MPFR_FOUND)
     add_pinocchio_unit_test(multiprecision-mpfr PACKAGES mpfr gmp)
   endif()

unittest/casadi/CMakeLists.txt

@@ -4,13 +4,14 @@
 
 macro(ADD_CASADI_UNIT_TEST name)
   add_pinocchio_unit_test(${name} PACKAGES casadi)
-  set_tests_properties(test-cpp-casadi-${name} PROPERTIES TIMEOUT 3000)
-  add_dependencies(test-casadi test-cpp-casadi-${name})
+  get_cpp_test_name(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
+  set_tests_properties(${TEST_NAME} PROPERTIES TIMEOUT 3000)
+  add_dependencies(${PROJECT_NAME}-test-casadi ${TEST_NAME})
 endmacro()
 
 if(BUILD_WITH_CASADI_SUPPORT)
-  add_custom_target(test-casadi)
-  set_target_properties(test-casadi PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
+  add_custom_target(${PROJECT_NAME}-test-casadi)
+  set_target_properties(${PROJECT_NAME}-test-casadi PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
   add_casadi_unit_test(basic)
   add_casadi_unit_test(spatial)
@@ -25,4 +26,4 @@ if(BUILD_WITH_CASADI_SUPPORT)
   endif()
   add_casadi_unit_test(integrate-derivatives)
   add_casadi_unit_test(rnea-derivatives)
-endif(BUILD_WITH_CASADI_SUPPORT)
+endif()