Make SISL truely optional

CMakeLists.txt

@@ -32,4 +32,15 @@ if (EXISTS ${CMAKE_CURRENT_BINARY_DIR}/test)
     endif()
 endif()
 
+# SISL as optional dependency
+option(USE_SISL "set to OFF to disable the usage of SISL." ON)
+if(USE_SISL)
+    rock_find_cmake(SISL)
+    if(NOT SISL_FOUND)
+        message(FATAL_ERROR "The usage of SISL is requested, but the library could not be found."
+            " Either make sure SISL is installed, or disable the usage via"
+            " -DUSE_SISL=OFF")
+    endif(NOT SISL_FOUND)
+endif()
+
 rock_standard_layout()

bindings/ruby/CMakeLists.txt

@@ -1,6 +1,5 @@
 include_directories(${CMAKE_BINARY_DIR}/include)
 
-find_package(SISL)
 if(SISL_FOUND)
     add_definitions(-DSISL_FOUND)
     rock_add_ruby_package(base

src/CMakeLists.txt

@@ -1,3 +1,15 @@
+if(SISL_FOUND)
+    message(STATUS "SISL found: ${SISL_LIBRARIES}")
+    list(APPEND OPTIONAL_HPP
+        Spline.hpp
+        Trajectory.hpp
+    )
+    list(APPEND OPTIONAL_CPP
+        Spline.cpp
+        Trajectory.cpp
+    )
+endif()
+
 rock_library(
     base-types 
         Angle.cpp
@@ -8,12 +20,10 @@ rock_library(
         JointTransform.cpp
         Pose.cpp
         Pressure.cpp
-        Spline.cpp
         Temperature.cpp
         Time.cpp
         TimeMark.cpp
         Timeout.cpp
-        Trajectory.cpp
         TransformWithCovariance.cpp
         TwistWithCovariance.cpp
         Waypoint.cpp
@@ -31,6 +41,7 @@ rock_library(
         samples/SonarBeam.cpp
         samples/SonarScan.cpp
         samples/PoseWithCovariance.cpp
+        ${OPTIONAL_CPP}
     HEADERS
         Angle.hpp
         CircularBuffer.hpp
@@ -54,7 +65,6 @@ rock_library(
         Time.hpp
         TimeMark.hpp
         Timeout.hpp
-        Trajectory.hpp
         TransformWithCovariance.hpp
         TwistWithCovariance.hpp
         Waypoint.hpp
@@ -84,15 +94,19 @@ rock_library(
         samples/Wrench.hpp
         samples/Wrenches.hpp
         templates/TimeStamped.hpp
-    DEPS_CMAKE 
-        SISL
+        ${OPTIONAL_HPP}
     DEPS_PKGCONFIG 
         base-logging
         eigen3
 )
 
-install(FILES ${CMAKE_SOURCE_DIR}/src/Spline.hpp
-	DESTINATION include/base/geometry)
+if(SISL_FOUND)
+    target_link_libraries(base-types ${SISL_LIBRARIES})
+    install(FILES ${CMAKE_SOURCE_DIR}/src/Spline.hpp
+            DESTINATION include/base/geometry)
+    configure_file(base-types-sisl.pc.in ${CMAKE_BINARY_DIR}/base-types-sisl.pc @ONLY)
+    install(FILES ${CMAKE_BINARY_DIR}/base-types-sisl.pc DESTINATION lib/pkgconfig)
+endif()
 
 configure_file(base-lib.pc.in ${CMAKE_BINARY_DIR}/base-lib.pc @ONLY)
 install(FILES ${CMAKE_BINARY_DIR}/base-lib.pc DESTINATION lib/pkgconfig)

src/base-lib.pc.in

@@ -6,4 +6,3 @@ Name: baseLib
 Version: 0.1
 Description: Common types for robotics modules, part that require a library
 Requires: base-types
-

src/base-types-sisl.pc.in

@@ -0,0 +1,8 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+includedir=${prefix}/include
+
+Name: baseTypesSisl
+Version: 0.1
+Description: Common types for robotics modules, including types that require the library sisl
+Requires: base-types

test/CMakeLists.txt

@@ -1,10 +1,16 @@
+if(SISL_FOUND)
+    list(APPEND OPTIONAL_TESTS
+        test_Spline.cpp)
+endif()
+
 rock_testsuite(test_base_types test.cpp
     test_samples_Sonar.cpp
     test_Eigen.cpp
-    test_Spline.cpp
     test_Timeout.cpp
+    ${OPTIONAL_TESTS}
     DEPS base-types
     DEPS_PKGCONFIG base-logging)
+
 rock_executable(benchmark benchmark.cpp bench_func.cpp
     DEPS base-types
     DEPS_PKGCONFIG base-logging

viz/CMakeLists.txt

@@ -1,4 +1,13 @@
 rock_find_qt4()
+if(SISL_FOUND)
+    list(APPEND OPTIONAL_HPP
+        TrajectoryVisualization.hpp
+    )
+    list(APPEND OPTIONAL_CPP
+        TrajectoryVisualization.cpp
+    )
+endif()
+
 rock_vizkit_plugin(base-viz
     PluginLoader.cpp Uncertainty.cpp Vizkit3DHelper.cpp
     MOC 
@@ -7,13 +16,13 @@ rock_vizkit_plugin(base-viz
         MotionCommandVisualization.cpp 
         RigidBodyStateVisualization.cpp 
         BodyStateVisualization.cpp 
-        TrajectoryVisualization.cpp 
         WaypointVisualization.cpp 
         SonarGroundDistanceVisualization.cpp 
         SonarBeamVisualization.cpp
         SonarVisualization.cpp
         PointcloudVisualization.cpp
         DepthMapVisualization.cpp
+        ${OPTIONAL_CPP}
     HEADERS 
         Uncertainty.hpp 
         Vizkit3DHelper.hpp 
@@ -22,13 +31,13 @@ rock_vizkit_plugin(base-viz
         MotionCommandVisualization.hpp 
         RigidBodyStateVisualization.hpp 
         BodyStateVisualization.hpp 
-        TrajectoryVisualization.hpp 
         WaypointVisualization.hpp 
         SonarGroundDistanceVisualization.hpp 
         SonarBeamVisualization.hpp
         SonarVisualization.hpp
         PointcloudVisualization.hpp
         DepthMapVisualization.hpp
+        ${OPTIONAL_HPP}
     DEPS base-types
     LIBS ${Boost_SYSTEM_LIBRARY}
     DEPS_PKGCONFIG base-logging