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ManifoldFRManifoldFR
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Run pre-commit (gersemi on CMake listfiles)
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‎CMakeLists.txt‎

Lines changed: 133 additions & 81 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,9 @@
55
cmake_minimum_required(VERSION 3.12)
66

77
set(PROJECT_NAME proxsuite-nlp)
8-
set(PROJECT_DESCRIPTION
9-
"A primal-dual augmented Lagrangian-type solver for nonlinear programming on manifolds."
8+
set(
9+
PROJECT_DESCRIPTION
10+
"A primal-dual augmented Lagrangian-type solver for nonlinear programming on manifolds."
1011
)
1112
set(PROJECT_URL "https://github.com/Simple-Robotics/proxsuite-nlp")
1213
set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
@@ -42,16 +43,17 @@ else()
4243
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
4344
message(
4445
FATAL_ERROR
45-
"\nCan't find jrl-cmakemodules. Please either:\n"
46-
" - use git submodule: 'git submodule update --init'\n"
47-
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
48-
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
46+
"\nCan't find jrl-cmakemodules. Please either:\n"
47+
" - use git submodule: 'git submodule update --init'\n"
48+
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
49+
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
4950
)
5051
else()
5152
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
5253
include(FetchContent)
5354
FetchContent_Declare(
54-
"jrl-cmakemodules" GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
55+
"jrl-cmakemodules"
56+
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
5557
)
5658
FetchContent_MakeAvailable("jrl-cmakemodules")
5759
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
@@ -83,33 +85,54 @@ apply_default_apple_configuration()
8385

8486
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
8587
message(STATUS "Setting build type to 'Release' as none was specified.")
86-
set(CMAKE_BUILD_TYPE
87-
Release
88-
CACHE STRING "Choose the type of build." FORCE
89-
)
88+
set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
9089
# Set the possible values of build type for cmake-gui
9190
set_property(
92-
CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo"
91+
CACHE CMAKE_BUILD_TYPE
92+
PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo"
9393
)
9494
endif()
9595

9696
# --- OPTIONS ----------------------------------------
9797
option(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON)
98-
option(BUILD_WITH_VERSION_SUFFIX "Build libraries with version appended to suffix" OFF)
99-
option(ENABLE_TEMPLATE_INSTANTIATION "Template instantiation of the main library" ON)
98+
option(
99+
BUILD_WITH_VERSION_SUFFIX
100+
"Build libraries with version appended to suffix"
101+
OFF
102+
)
103+
option(
104+
ENABLE_TEMPLATE_INSTANTIATION
105+
"Template instantiation of the main library"
106+
ON
107+
)
100108
option(BUILD_EXAMPLES "Build the examples" ON)
101109
option(BUILD_BENCHMARK "Build the benchmarks" OFF)
102110

103111
# --- OPTIONAL DEPENDENCIES -------------------------
104-
option(BUILD_WITH_PINOCCHIO_SUPPORT "Build the library with support for Pinocchio" ON)
105-
option(BUILD_WITH_PROXSUITE_SUPPORT "Build the library with ProxSuite's LDLT decomposition" OFF)
112+
option(
113+
BUILD_WITH_PINOCCHIO_SUPPORT
114+
"Build the library with support for Pinocchio"
115+
ON
116+
)
117+
option(
118+
BUILD_WITH_PROXSUITE_SUPPORT
119+
"Build the library with ProxSuite's LDLT decomposition"
120+
OFF
121+
)
106122
cmake_dependent_option(
107-
GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF
108-
BUILD_PYTHON_INTERFACE OFF
123+
GENERATE_PYTHON_STUBS
124+
"Generate the Python stubs associated to the Python library"
125+
OFF
126+
BUILD_PYTHON_INTERFACE
127+
OFF
109128
)
110129

111130
option(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
112-
option(CHECK_RUNTIME_MALLOC "Check if some memory allocations are performed at runtime" OFF)
131+
option(
132+
CHECK_RUNTIME_MALLOC
133+
"Check if some memory allocations are performed at runtime"
134+
OFF
135+
)
113136

114137
# Variable containing all the cflags definition relative to optional dependencies
115138
# and options
@@ -128,7 +151,11 @@ endif(CHECK_RUNTIME_MALLOC)
128151

129152
if(ENABLE_TEMPLATE_INSTANTIATION)
130153
add_compile_definitions(PROXSUITE_NLP_ENABLE_TEMPLATE_INSTANTIATION)
131-
list(APPEND CFLAGS_DEPENDENCIES "-DPROXSUITE_NLP_ENABLE_TEMPLATE_INSTANTIATION")
154+
list(
155+
APPEND
156+
CFLAGS_DEPENDENCIES
157+
"-DPROXSUITE_NLP_ENABLE_TEMPLATE_INSTANTIATION"
158+
)
132159
endif(ENABLE_TEMPLATE_INSTANTIATION)
133160

134161
macro(TAG_LIBRARY_VERSION target)
@@ -159,9 +186,12 @@ if(BUILD_PYTHON_INTERFACE)
159186
add_project_dependency(eigenpy 3.8.0 REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 3.8.0")
160187

161188
execute_process(
162-
COMMAND ${PYTHON_EXECUTABLE} -c "import platform; print(platform.python_implementation())"
189+
COMMAND
190+
${PYTHON_EXECUTABLE} -c
191+
"import platform; print(platform.python_implementation())"
163192
OUTPUT_VARIABLE _python_implementation_value
164-
OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET
193+
OUTPUT_STRIP_TRAILING_WHITESPACE
194+
ERROR_QUIET
165195
)
166196
message(STATUS "Python compiler: ${_python_implementation_value}")
167197
endif(BUILD_PYTHON_INTERFACE)
@@ -180,63 +210,69 @@ file(GLOB_RECURSE LIB_HEADERS ${LIB_HEADER_DIR}/*.hpp ${LIB_HEADER_DIR}/*.hxx)
180210
set(LIB_SOURCES ${PROJECT_SOURCE_DIR}/src/block-kind.cpp)
181211

182212
if(ENABLE_TEMPLATE_INSTANTIATION)
183-
184-
set(LIB_TEMPLATE_SOURCES
185-
${PROJECT_SOURCE_DIR}/src/block-ldlt.cpp
186-
${PROJECT_SOURCE_DIR}/src/constraints.cpp
187-
${PROJECT_SOURCE_DIR}/src/constraint-set.cpp
188-
${PROJECT_SOURCE_DIR}/src/constraint-set-product.cpp
189-
${PROJECT_SOURCE_DIR}/src/manifold-base.cpp
190-
${PROJECT_SOURCE_DIR}/src/cartesian-product.cpp
191-
${PROJECT_SOURCE_DIR}/src/function-base.cpp
192-
${PROJECT_SOURCE_DIR}/src/squared-distance.cpp
193-
${PROJECT_SOURCE_DIR}/src/quadratic-residual.cpp
194-
${PROJECT_SOURCE_DIR}/src/cost-function.cpp
195-
${PROJECT_SOURCE_DIR}/src/cost-sum.cpp
196-
${PROJECT_SOURCE_DIR}/src/prox-solver.cpp
197-
${PROJECT_SOURCE_DIR}/src/linesearch-base.cpp
198-
${PROJECT_SOURCE_DIR}/src/linesearch-armijo.cpp
199-
${PROJECT_SOURCE_DIR}/src/results.cpp
200-
${PROJECT_SOURCE_DIR}/src/problem-base.cpp
201-
${PROJECT_SOURCE_DIR}/src/workspace.cpp
202-
${PROJECT_SOURCE_DIR}/src/pdal.cpp
213+
set(
214+
LIB_TEMPLATE_SOURCES
215+
${PROJECT_SOURCE_DIR}/src/block-ldlt.cpp
216+
${PROJECT_SOURCE_DIR}/src/constraints.cpp
217+
${PROJECT_SOURCE_DIR}/src/constraint-set.cpp
218+
${PROJECT_SOURCE_DIR}/src/constraint-set-product.cpp
219+
${PROJECT_SOURCE_DIR}/src/manifold-base.cpp
220+
${PROJECT_SOURCE_DIR}/src/cartesian-product.cpp
221+
${PROJECT_SOURCE_DIR}/src/function-base.cpp
222+
${PROJECT_SOURCE_DIR}/src/squared-distance.cpp
223+
${PROJECT_SOURCE_DIR}/src/quadratic-residual.cpp
224+
${PROJECT_SOURCE_DIR}/src/cost-function.cpp
225+
${PROJECT_SOURCE_DIR}/src/cost-sum.cpp
226+
${PROJECT_SOURCE_DIR}/src/prox-solver.cpp
227+
${PROJECT_SOURCE_DIR}/src/linesearch-base.cpp
228+
${PROJECT_SOURCE_DIR}/src/linesearch-armijo.cpp
229+
${PROJECT_SOURCE_DIR}/src/results.cpp
230+
${PROJECT_SOURCE_DIR}/src/problem-base.cpp
231+
${PROJECT_SOURCE_DIR}/src/workspace.cpp
232+
${PROJECT_SOURCE_DIR}/src/pdal.cpp
203233
)
204-
set(LIB_TEMPLATE_DECLARATIONS
205-
${LIB_HEADER_DIR}/linalg/block-ldlt.txx
206-
${LIB_HEADER_DIR}/manifold-base.txx
207-
${LIB_HEADER_DIR}/function-base.txx
208-
${LIB_HEADER_DIR}/cost-function.txx
209-
${LIB_HEADER_DIR}/cost-sum.txx
210-
${LIB_HEADER_DIR}/prox-solver.txx
211-
${LIB_HEADER_DIR}/results.txx
212-
${LIB_HEADER_DIR}/problem-base.txx
213-
${LIB_HEADER_DIR}/workspace.txx
214-
${LIB_HEADER_DIR}/pdal.txx
215-
${LIB_HEADER_DIR}/linesearch.txx
216-
${LIB_HEADER_DIR}/modelling/costs/squared-distance.txx
217-
${LIB_HEADER_DIR}/modelling/costs/quadratic-residual.txx
218-
${LIB_HEADER_DIR}/modelling/spaces/cartesian-product.txx
234+
set(
235+
LIB_TEMPLATE_DECLARATIONS
236+
${LIB_HEADER_DIR}/linalg/block-ldlt.txx
237+
${LIB_HEADER_DIR}/manifold-base.txx
238+
${LIB_HEADER_DIR}/function-base.txx
239+
${LIB_HEADER_DIR}/cost-function.txx
240+
${LIB_HEADER_DIR}/cost-sum.txx
241+
${LIB_HEADER_DIR}/prox-solver.txx
242+
${LIB_HEADER_DIR}/results.txx
243+
${LIB_HEADER_DIR}/problem-base.txx
244+
${LIB_HEADER_DIR}/workspace.txx
245+
${LIB_HEADER_DIR}/pdal.txx
246+
${LIB_HEADER_DIR}/linesearch.txx
247+
${LIB_HEADER_DIR}/modelling/costs/squared-distance.txx
248+
${LIB_HEADER_DIR}/modelling/costs/quadratic-residual.txx
249+
${LIB_HEADER_DIR}/modelling/spaces/cartesian-product.txx
219250
)
220251
if(BUILD_WITH_PINOCCHIO_SUPPORT)
221-
list(APPEND LIB_TEMPLATE_SOURCES ${PROJECT_SOURCE_DIR}/src/multibody/rigid-transform-point.cpp
222-
${PROJECT_SOURCE_DIR}/src/multibody/spaces.cpp
252+
list(
253+
APPEND
254+
LIB_TEMPLATE_SOURCES
255+
${PROJECT_SOURCE_DIR}/src/multibody/rigid-transform-point.cpp
256+
${PROJECT_SOURCE_DIR}/src/multibody/spaces.cpp
223257
)
224-
list(APPEND LIB_TEMPLATE_DECLARATIONS
225-
${LIB_HEADER_DIR}/modelling/residuals/rigid-transform-point.txx
226-
${LIB_HEADER_DIR}/modelling/spaces/multibody.txx
258+
list(
259+
APPEND
260+
LIB_TEMPLATE_DECLARATIONS
261+
${LIB_HEADER_DIR}/modelling/residuals/rigid-transform-point.txx
262+
${LIB_HEADER_DIR}/modelling/spaces/multibody.txx
227263
)
228264
endif(BUILD_WITH_PINOCCHIO_SUPPORT)
229265
list(APPEND LIB_HEADERS ${LIB_TEMPLATE_DECLARATIONS})
230266
list(APPEND LIB_SOURCES ${LIB_TEMPLATE_SOURCES})
231-
232267
endif(ENABLE_TEMPLATE_INSTANTIATION)
233268

234269
function(set_standard_output_directory target)
235270
set_target_properties(
236271
${target}
237-
PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
238-
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
239-
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
272+
PROPERTIES
273+
RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
274+
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
275+
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
240276
)
241277
endfunction()
242278

@@ -248,12 +284,19 @@ function(create_library)
248284
add_library(proxsuite::nlp ALIAS ${PROJECT_NAME})
249285
add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
250286
set_standard_output_directory(${PROJECT_NAME})
251-
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX INSTALL_RPATH "\$ORIGIN")
287+
set_target_properties(
288+
${PROJECT_NAME}
289+
PROPERTIES LINKER_LANGUAGE CXX INSTALL_RPATH "\$ORIGIN"
290+
)
252291
target_compile_definitions(
253-
${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS} $<$<PLATFORM_ID:Windows>:NOMINMAX>
292+
${PROJECT_NAME}
293+
PUBLIC ${CURRENT_COMPILE_DEFINITIONS} $<$<PLATFORM_ID:Windows>:NOMINMAX>
254294
)
255295

256-
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX VERSION ${PROJECT_VERSION})
296+
set_target_properties(
297+
${PROJECT_NAME}
298+
PROPERTIES LINKER_LANGUAGE CXX VERSION ${PROJECT_VERSION}
299+
)
257300
if(BUILD_LIBRARY_WITH_VERSION_SUFFIX)
258301
tag_library_version(${PROJECT_NAME})
259302
endif()
@@ -266,27 +309,40 @@ function(create_library)
266309
target_link_libraries(${PROJECT_NAME} PUBLIC Boost::boost)
267310
target_link_libraries(${PROJECT_NAME} PUBLIC fmt::fmt)
268311
if(BUILD_WITH_PROXSUITE_SUPPORT)
269-
target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite::proxsuite-vectorized)
312+
target_link_libraries(
313+
${PROJECT_NAME}
314+
PUBLIC proxsuite::proxsuite-vectorized
315+
)
270316
endif()
271317
target_include_directories(
272318
${PROJECT_NAME}
273-
PUBLIC $<INSTALL_INTERFACE:include> $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
274-
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
319+
PUBLIC
320+
$<INSTALL_INTERFACE:include>
321+
$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
322+
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
275323
)
276324

277325
set(MSVC_CMD_OPTIONS /bigobj)
278-
target_compile_options(${PROJECT_NAME} PUBLIC $<$<CXX_COMPILER_ID:MSVC>:${MSVC_CMD_OPTIONS}>)
326+
target_compile_options(
327+
${PROJECT_NAME}
328+
PUBLIC $<$<CXX_COMPILER_ID:MSVC>:${MSVC_CMD_OPTIONS}>
329+
)
279330

280331
foreach(headerFile ${LIB_HEADERS})
281-
string(REGEX REPLACE "${PROJECT_SOURCE_DIR}/" "" headerFileRelative ${headerFile})
332+
string(
333+
REGEX REPLACE
334+
"${PROJECT_SOURCE_DIR}/"
335+
""
336+
headerFileRelative
337+
${headerFile}
338+
)
282339
get_filename_component(headerPath ${headerFileRelative} PATH)
283340
install(
284341
FILES ${headerFileRelative}
285342
DESTINATION ${CMAKE_INSTALL_PREFIX}/${headerPath}
286343
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
287344
)
288345
endforeach(headerFile ${LIB_HEADERS})
289-
290346
endfunction()
291347

292348
create_library()
@@ -297,8 +353,7 @@ add_source_group(LIB_SOURCES)
297353
install(
298354
TARGETS ${PROJECT_NAME}
299355
EXPORT ${TARGETS_EXPORT_NAME}
300-
INCLUDES
301-
DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
356+
INCLUDES DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
302357
LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
303358
ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
304359
RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR}
@@ -317,10 +372,7 @@ endif()
317372
macro(EXPORT_VARIABLE var_name var_value)
318373
get_directory_property(has_parent PARENT_DIRECTORY)
319374
if(has_parent)
320-
set(${var_name}
321-
${var_value}
322-
PARENT_SCOPE
323-
)
375+
set(${var_name} ${var_value} PARENT_SCOPE)
324376
else()
325377
set(${var_name} ${var_value})
326378
endif()

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