Merge pull request #141 from prashanthr05/cmake/refactor-contact

Make compilation of Contact library independent from Planners library
ami-iit · Nov 25, 2020 · 862254f · 862254f
2 parents 64708a7 + 2201827
commit 862254f
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/cmake/BipedalLocomotionFrameworkFindDependencies.cmake b/cmake/BipedalLocomotionFrameworkFindDependencies.cmake
@@ -174,6 +174,10 @@ framework_dependent_option(FRAMEWORK_COMPILE_Estimators
   "Compile Estimators library?" ON
   "" OFF)
 
+framework_dependent_option(FRAMEWORK_COMPILE_Contact
+  "Compile Contact libraries?" ON
+  "FRAMEWORK_USE_manif" OFF)
+
 framework_dependent_option(FRAMEWORK_COMPILE_Planners
   "Compile Planners libraries?" ON
   "FRAMEWORK_USE_Qhull;FRAMEWORK_USE_casadi;FRAMEWORK_USE_manif" OFF)

diff --git a/src/Planners/CMakeLists.txt b/src/Planners/CMakeLists.txt
@@ -2,17 +2,22 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-if (FRAMEWORK_COMPILE_Planners)
 
+if (FRAMEWORK_COMPILE_Contact)
   set(H_PREFIX include/BipedalLocomotion/Planners)
 
   add_bipedal_locomotion_library(
     NAME                  Contact
     PUBLIC_HEADERS        ${H_PREFIX}/Contact.h ${H_PREFIX}/ContactList.h ${H_PREFIX}/ContactPhase.h ${H_PREFIX}/ContactPhaseList.h
     SOURCES               src/Contact.cpp src/ContactList.cpp src/ContactPhase.cpp src/ContactPhaseList.cpp
     PUBLIC_LINK_LIBRARIES MANIF::manif
-    INSTALLATION_FOLDER   Planners
-    )
+    INSTALLATION_FOLDER   Planners)
+
+endif()
+
+if (FRAMEWORK_COMPILE_Planners)
+
+  set(H_PREFIX include/BipedalLocomotion/Planners)
 
   add_bipedal_locomotion_library(
     NAME                   Planners