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Support omplapp build with both ompl as submodule and ompl as external installation #23

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Support omplapp build with both ompl as submodule and ompl as external installation #23

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4477917
make corresponding cmake changes for FLANN and Spot as in https://git…
mamoll Dec 1, 2023
11d8a8b
modernize cmake syntax
mamoll Sep 8, 2024
cb8c4e3
Merge branch 'main' into pr-modernize-cmake
mamoll Sep 8, 2024
604947a
build ompl app with external ompl installation
saahu27 Apr 1, 2025
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365 changes: 268 additions & 97 deletions CMakeLists.txt
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9 changes: 0 additions & 9 deletions CMakeModules/Findccd.cmake
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18 changes: 0 additions & 18 deletions CMakeModules/Findfcl.cmake
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -13,7 +13,7 @@ detailed installation instructions.
OMPL.app has the following required dependencies:

* [Boost](https://www.boost.org) (version 1.58 or higher)
* [CMake](https://www.cmake.org) (version 3.5 or higher)
* [CMake](https://www.cmake.org) (version 3.12 or higher)
* [Eigen](http://eigen.tuxfamily.org) (version 3.3 or higher)
* [Assimp](http://assimp.org) (version 3.0.1270 or higher)
* [FCL](https://github.com/flexible-collision-library/fcl) (version 0.3.1 or higher)
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2 changes: 1 addition & 1 deletion benchmark/CMakeLists.txt
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@@ -1,6 +1,6 @@
add_executable(ompl_benchmark
CFGBenchmark.cpp BenchmarkOptions.cpp BenchmarkTypes.cpp benchmark.cpp)
target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base Boost::program_options)
install(TARGETS ompl_benchmark
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
COMPONENT omplapp
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2 changes: 1 addition & 1 deletion ompl
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Submodule ompl updated 90 files
+0 −50 .appveyor.yml
+0 −1 .clang-format
+1 −0 .dockerignore
+26 −0 .github/workflows/before_all.sh
+73 −0 .github/workflows/before_build.sh
+68 −0 .github/workflows/build.yml
+65 −0 .github/workflows/wheels.yaml
+0 −62 .travis.yml
+17 −19 CMakeLists.txt
+8 −0 CMakeModules/FindTriangle.cmake
+19 −5 CMakeModules/Findcastxml.cmake
+0 −27 CMakeModules/Findflann.cmake
+10 −1 CMakeModules/Findspot.cmake
+6 −6 CMakeModules/OMPLUtils.cmake
+17 −2 CMakeModules/PythonBindingsUtils.cmake
+2 −2 CMakeModules/ompl.pc.in
+11 −4 README.md
+0 −9 TODO
+23 −12 demos/CMakeLists.txt
+3 −3 demos/constraint/ConstrainedPlanningCommon.py
+17 −10 doc/markdown/buildSystem.md
+1 −1 install-ompl-ubuntu.sh.in
+30 −53 omplConfig.cmake.in
+81 −7 py-bindings/generate_bindings.py
+1 −1 py-bindings/headers_base.txt
+2 −2 py-bindings/headers_geometric.txt
+8 −0 py-bindings/ompl_py_tools.h
+21 −0 py-bindings/pyproject.toml
+163 −8 py-bindings/setup.py
+11 −7 scripts/docker/ompl.Dockerfile
+6 −0 src/CMakeLists.txt
+17 −20 src/ompl/CMakeLists.txt
+45 −43 src/ompl/base/OptimizationObjective.h
+1 −1 src/ompl/base/samplers/informed/src/RejectionInfSampler.cpp
+0 −3 src/ompl/base/spaces/DubinsStateSpace.h
+2 −2 src/ompl/base/spaces/src/DubinsStateSpace.cpp
+37 −32 src/ompl/base/src/OptimizationObjective.cpp
+0 −3 src/ompl/config.h.in
+13 −1 src/ompl/control/planners/est/src/EST.cpp
+1 −1 src/ompl/control/planners/kpiece/src/KPIECE1.cpp
+12 −0 src/ompl/control/planners/pdst/src/PDST.cpp
+14 −2 src/ompl/control/planners/rrt/src/RRT.cpp
+13 −1 src/ompl/control/planners/sst/src/SST.cpp
+92 −48 src/ompl/geometric/PathSimplifier.h
+63 −35 src/ompl/geometric/planners/AnytimePathShortening.cpp
+9 −0 src/ompl/geometric/planners/AnytimePathShortening.h
+1 −1 src/ompl/geometric/planners/est/EST.h
+3 −1 src/ompl/geometric/planners/est/src/BiEST.cpp
+13 −1 src/ompl/geometric/planners/est/src/EST.cpp
+13 −1 src/ompl/geometric/planners/est/src/ProjEST.cpp
+6 −0 src/ompl/geometric/planners/fmt/src/FMT.cpp
+3 −1 src/ompl/geometric/planners/kpiece/src/BKPIECE1.cpp
+7 −1 src/ompl/geometric/planners/kpiece/src/KPIECE1.cpp
+3 −1 src/ompl/geometric/planners/kpiece/src/LBKPIECE1.cpp
+12 −0 src/ompl/geometric/planners/pdst/src/PDST.cpp
+27 −19 src/ompl/geometric/planners/prm/src/PRM.cpp
+33 −33 src/ompl/geometric/planners/prm/src/SPARStwo.cpp
+3 −1 src/ompl/geometric/planners/rlrt/src/BiRLRT.cpp
+14 −2 src/ompl/geometric/planners/rlrt/src/RLRT.cpp
+2 −2 src/ompl/geometric/planners/rrt/src/BiTRRT.cpp
+13 −1 src/ompl/geometric/planners/rrt/src/LBTRRT.cpp
+8 −2 src/ompl/geometric/planners/rrt/src/LazyLBTRRT.cpp
+13 −1 src/ompl/geometric/planners/rrt/src/LazyRRT.cpp
+13 −1 src/ompl/geometric/planners/rrt/src/RRT.cpp
+3 −1 src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
+14 −2 src/ompl/geometric/planners/rrt/src/RRTXstatic.cpp
+13 −1 src/ompl/geometric/planners/rrt/src/RRTstar.cpp
+15 −3 src/ompl/geometric/planners/rrt/src/TRRT.cpp
+14 −2 src/ompl/geometric/planners/rrt/src/TSRRT.cpp
+14 −2 src/ompl/geometric/planners/rrt/src/VFRRT.cpp
+1 −1 src/ompl/geometric/planners/rrt/src/pRRT.cpp
+4 −2 src/ompl/geometric/planners/sbl/src/SBL.cpp
+5 −2 src/ompl/geometric/planners/sbl/src/pSBL.cpp
+13 −1 src/ompl/geometric/planners/sst/src/SST.cpp
+13 −1 src/ompl/geometric/planners/stride/src/STRIDE.cpp
+115 −7 src/ompl/geometric/src/PathSimplifier.cpp
+1 −1 src/ompl/multilevel/datastructures/BundleSpaceSequenceImpl.h
+13 −0 src/ompl/tools/lightning/src/Lightning.cpp
+14 −19 src/ompl/tools/thunder/src/SPARSdb.cpp
+14 −1 src/ompl/tools/thunder/src/Thunder.cpp
+0 −1 src/ompl/util/RandomNumbers.h
+14 −6 tests/CMakeLists.txt
+18 −18 tests/base/ptc.cpp
+6 −0 tests/cmake_export/CMakeLists.txt
+13 −0 tests/cmake_export/README.md
+5 −0 tests/cmake_export/main.cpp
+54 −58 tests/geometric/2d/2DmapSetup.h
+88 −133 tests/geometric/2d/2denvs.cpp
+38 −42 tests/geometric/2d/2dpath_simplifying.cpp
+15 −0 vcpkg.json
42 changes: 22 additions & 20 deletions py-bindings/CMakeLists.txt
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@@ -1,24 +1,26 @@
include(PythonBindingsUtils)
if(USE_BUNDLED_OMPL)
include(PythonBindingsUtils)

# copy app module __init__.py
execute_process(COMMAND "${CMAKE_COMMAND}" -E copy_if_different
"${CMAKE_CURRENT_SOURCE_DIR}/app/__init__.py"
"${CMAKE_SOURCE_DIR}/ompl/py-bindings/ompl/app/__init__.py")
# copy app module __init__.py
execute_process(COMMAND "${CMAKE_COMMAND}" -E copy_if_different
"${CMAKE_CURRENT_SOURCE_DIR}/app/__init__.py"
"${CMAKE_SOURCE_DIR}/ompl/py-bindings/ompl/app/__init__.py")

if(OMPL_BUILD_PYBINDINGS)
if(PY_OMPL_GENERATE)
create_module_generation_targets(app)
add_dependencies(update_app_bindings update_geometric_bindings update_control_bindings)
endif(PY_OMPL_GENERATE)
if(OMPL_BUILD_PYBINDINGS)
if(PY_OMPL_GENERATE)
create_module_generation_targets(app)
add_dependencies(update_app_bindings update_geometric_bindings update_control_bindings)
endif()

if(PY_OMPL_COMPILE AND EXISTS "${CMAKE_CURRENT_BINARY_DIR}/bindings")
create_module_target(app
"${CMAKE_CURRENT_SOURCE_DIR}/../ompl/py-bindings/ompl" ompl_app)
endif()
endif(OMPL_BUILD_PYBINDINGS)
if(PY_OMPL_COMPILE AND EXISTS "${CMAKE_CURRENT_BINARY_DIR}/bindings")
create_module_target(app
"${CMAKE_CURRENT_SOURCE_DIR}/../ompl/py-bindings/ompl" ompl_app)
endif()
endif()

add_custom_target(clean_app_bindings
"${CMAKE_COMMAND}" -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/bindings"
COMMAND "${CMAKE_COMMAND}" -E remove -f pyplusplus_app.{cache,log}
WORKING_DIRECTORY "${PROJECT_BINARY_DIR}")
add_dependencies(clean_bindings clean_app_bindings)
add_custom_target(clean_app_bindings
"${CMAKE_COMMAND}" -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/bindings"
COMMAND "${CMAKE_COMMAND}" -E remove -f pyplusplus_app.{cache,log}
WORKING_DIRECTORY "${PROJECT_BINARY_DIR}")
add_dependencies(clean_bindings clean_app_bindings)
endif()
3 changes: 0 additions & 3 deletions src/omplapp/CMakeLists.txt
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Expand Up @@ -38,9 +38,6 @@ foreach(_target ${OMPLAPP_TARGETS})
set_target_properties(${_target} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION "${OMPL_ABI_VERSION}")
endif(WIN32)

install(TARGETS ${_target}
DESTINATION ${CMAKE_INSTALL_LIBDIR}
COMPONENT omplapp)
if(NOT MSVC)
add_custom_command(TARGET ${_target} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy "$<TARGET_FILE:${_target}>"
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