cmake_minimum_required(VERSION 2.8.

0)
project(drake-superbuild)
# PODs out-of-source build logic
if (CMAKE_INSTALL_PREFIX STREQUAL "/usr/local" OR CMAKE_INSTALL_PREFIX STREQUAL
"C:/Program Files/${PROJECT_NAME}")
find_file(_build_dir build PATHS ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_
DIR}/.. ${PROJECT_SOURCE_DIR}/../.. ${PROJECT_SOURCE_DIR}/../../.. ${PROJECT_SOU
RCE_DIR}/../../../..)
if (_build_dir)
set(CMAKE_INSTALL_PREFIX "${_build_dir}")
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PRO
JECT_SOURCE_DIR}/build)
set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/build)
endif()
endif()
message(STATUS CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
include(ExternalProject)
# menu of extra examples
option(EXAMPLES_LITTLEDOG "planning and control for a small quadruped robot" OFF
)
## External dependencies
option(AUTO_UPDATE_EXTERNALS "external projects are updated to their tag revisio
n on compile" ON)
# menu of external projects
option(WITH_ALL_PUBLIC_EXTERNALS "enable all externals available to public acade
mic users" OFF)
option(WITH_ALL_SUPPORTED_EXTERNALS "enable all externals available for your pla
tform (includes private git repositories)" OFF)
option(REMOVE_UNUSED_EXTERNALS "enable this to remove those projects from disk"
OFF)
# ON by default:
option(WITH_EIGEN
"required c++ matrix library. only disable if y
ou have it already."
ON)
if (WIN32)
if (CMAKE_SIZEOF_VOID_P EQUAL 8) # gtk only compiles on win64 right now
option(WITH_LCM
"interprocess communications protocol fo
r visualizers, etc" ON)
option(WITH_GTK
"precompiled gtk binaries/headers for Wi
ndows" ON) # needed for lcm on windows
endif()
else()
option(WITH_LCM
"interprocess communications protocol fo
r visualizers, etc" ON)
option(WITH_DIRECTOR
"vtk-based visualization tool and robot user int
erface" ON) # not win32 yet. it builds on windows, but requires manually inst
allation of vtk, etc. perhaps make a precompiled director pod (a bit like snopt
)
option(WITH_LIBBOT
"simple open-gl visualizer + lcmgl for d
irector"
ON) # there is hope, but i spent a long time cleaning up c/c++ l
anguage errors trying to make msvc happy.. and still had a long way to go.
option(WITH_BULLET
"used for collision detection" ON) # al
most works. just one remaining link error..?
endif()

find_program(matlab matlab)
if (matlab)
option(WITH_SPOTLESS
ON)
endif()

"polynomial optimization front-end for MATLAB"

option(WITH_SNOPT_PRECOMPILED "precompiled binaries only for snopt; the source r

equires a license (will be disabled if WITH_SNOPT=ON)" ON)
# OFF by default:
option(WITH_SNOPT
"nonlinear optimization solver; requires access
to RobotLocomotion/snopt-pod")
if (NOT WIN32) # many of these might work on win32 with little or no work... the
y just haven't been tried
option(WITH_SIGNALSCOPE "live plotting tool for lcm messages")
option(WITH_IRIS
"fast approximate convex segmentation")
option(WITH_OCTOMAP
"provides oct-tree data structures")
option(WITH_GUROBI
"convex/integer optimization solver; fre
e for academics (will prompt you for login bits)")
option(WITH_MOSEK
"convex optimization solver; free for ac
ademics")
option(WITH_YALMIP
"free optimization front-end for MATLAB"
)
option(WITH_GLOPTIPOLY "free global polynomial optimization tooblox")
option(WITH_BERTINI
"solve polynomial equations; free but pod requir
es permissions (can't redistribute)")
option(WITH_SEDUMI
"semi-definite programming solver")
# include(CMakeDetermineFortranCompiler) # this didn't do the trick, an
d enable_language(Fortran OPTIONAL) simply fails if not found (optional is a pla
ceholder option that doesn't work yet)
# if (CMAKE_Fortran_COMPILER)
option(WITH_AVL
"use w/ XFOIL to compute aerodynamic coe
fficients for airfoils")
option(WITH_XFOIL
"use w/ AVL to compute aerodynamic coeff
icients for airfoils")
# endif()
option(WITH_MESHCONVERTERS "uses vcglib to convert a few standard filety
pes")
endif()
# list *compilation* dependencies, in alphabetical order by target (note: depend
encies must come first in my foreach above)
set(lcm_dependencies gtk)
set(libbot_dependencies lcm)
set(director_dependencies lcm libbot)
set(iris_dependencies eigen mosek)
set(signalscope_dependencies director)
set(drake_dependencies cmake eigen lcm libbot bullet octomap snopt gurobi)
# download information, in alphabetical order
set(avl_GIT_REPOSITORY https://github.com/RobotLocomotion/avl.git)
set(avl_GIT_TAG 9b927f90619460b29f7454c714369f65bc4536a1)
set(avl_IS_PUBLIC TRUE)
set(bertini_GIT_REPOSITORY git@github.com:RobotLocomotion/bertini.git)
set(bertini_GIT_TAG 3ae3e3ad3534acb4b6f7a4c3c22728b493beaa80)
set(bertini_IS_PUBLIC FALSE)
set(bullet_GIT_REPOSITORY https://github.com/RobotLocomotion/bullet-pod.git)
set(bullet_GIT_TAG 4319ffd7e9251066d93064f5a8dab12e33dbe5e2)

set(bullet_IS_PUBLIC TRUE)
set(bullet_IS_CMAKE_POD TRUE)
set(cmake_GIT_REPOSITORY https://github.com/RobotLocomotion/cmake.git)
set(cmake_GIT_TAG 7f3d95b5928b61cd84302838732d97104464d001)
set(cmake_GIT_CLONE_DIR "${PROJECT_SOURCE_DIR}/drake/cmake")
set(cmake_NO_BUILD TRUE)
set(cmake_IS_PUBLIC TRUE)
set(director_GIT_REPOSITORY https://github.com/RobotLocomotion/director.git)
set(director_GIT_TAG 9e2cfbc3812cb5c12915981fe63fed76e711e1b7)
set(director_SOURCE_DIR ${PROJECT_SOURCE_DIR}/externals/director/distro/pods/dra
ke-distro)
set(director_IS_PUBLIC TRUE)
set(eigen_GIT_REPOSITORY https://github.com/RobotLocomotion/eigen-pod.git)
set(eigen_GIT_TAG 3ec6bbfcb41a9ea74921720d62f86863fdf96217)
set(eigen_IS_CMAKE_POD TRUE)
set(eigen_IS_PUBLIC TRUE)
set(gtk_GIT_REPOSITORY https://github.com/RobotLocomotion/gtk-pod.git)
set(gtk_GIT_TAG 78a110023b527e6ee372e4686118a8c7a6a51131)
set(gtk_IS_CMAKE_POD TRUE)
set(gtk_IS_PUBLIC TRUE)
set(gloptipoly_GIT_REPOSITORY git@github.com:RobotLocomotion/gloptipoly3.git) #
todo: rename that repo
set(gloptipoly_GIT_TAG c9e796e99c584ecf78317348c4162a2ed4121156)
set(gloptipoly_IS_PUBLIC FALSE)
set(gurobi_GIT_REPOSITORY https://github.com/RobotLocomotion/gurobi.git)
set(gurobi_GIT_TAG bb1dbbdd61a4e435e0e0680cb90b8df2eb59a815)
set(gurobi_IS_PUBLIC FALSE)
set(iris_GIT_REPOSITORY https://github.com/rdeits/iris-distro.git)
set(iris_GIT_TAG a17bdb4a20a8195363b629c47fd1b6251b44c95e)
set(iris_ADDITIONAL_BUILD_ARGS PATCH_COMMAND make configure-cdd-only)
set(iris_IS_PUBLIC TRUE)
set(lcm_GIT_REPOSITORY https://github.com/RobotLocomotion/lcm-pod.git)
set(lcm_GIT_TAG 23876258aaf1c29a0a29915aa82c7b785214a2bf) # note: cmake branch
set(lcm_IS_CMAKE_POD TRUE)
set(lcm_SOURCE_DIR ${PROJECT_SOURCE_DIR}/externals/lcm/lcm-1.0.0)
set(lcm_IS_PUBLIC TRUE)
set(libbot_GIT_REPOSITORY https://github.com/RobotLocomotion/libbot.git)
set(libbot_GIT_TAG 94fe5290329646959e1c27896d529abba81e6d93)
set(libbot_IS_PUBLIC TRUE)
set(meshconverters_GIT_REPOSITORY https://github.com/RobotLocomotion/meshConvert
ers.git)
set(meshconverters_GIT_TAG d50a79b80d74dd7a924daba7bd2011e03d9e66b4)
set(meshconverters_IS_PUBLIC TRUE)
set(mosek_GIT_REPOSITORY https://github.com/rdeits/mosek-pod.git)
set(mosek_GIT_TAG 1919b622df17b7584ac644406f360bd07cdf5fba)
set(mosek_IS_PUBLIC TRUE)
set(octomap_GIT_REPOSITORY https://github.com/RobotLocomotion/octomap-pod.git)
set(octomap_GIT_TAG 00b28215d19580f9e964bc5d126ce55a9253671a)
set(octomap_IS_PUBLIC TRUE)
set(sedumi_GIT_REPOSITORY git@github.com:RobotLocomotion/sedumi.git)
set(sedumi_GIT_TAG 8263577d4ab375524060c19369ccf410133bb9eb)
set(sedumi_IS_PUBLIC FALSE)
set(signalscope_GIT_REPOSITORY https://github.com/mitdrc/signal-scope.git)
set(signalscope_GIT_TAG bd891bb2a8284a969086b7f286462572e5698855)
set(signalscope_IS_PUBLIC TRUE)
set(snopt_GIT_REPOSITORY git@github.com:RobotLocomotion/snopt.git)
set(snopt_GIT_TAG 95d908275156f2665ef3941f08cb89c767480a6e)
set(snopt_IS_CMAKE_POD TRUE)
set(snopt_IS_PUBLIC FALSE)
set(spotless_GIT_REPOSITORY https://github.com/RobotLocomotion/spotless-pod.git)

set(spotless_GIT_TAG 3a9f395327e39d146d6ee152e2d2c37d55329f64)
set(spotless_IS_CMAKE_POD TRUE)
set(spotless_IS_PUBLIC TRUE)
set(yalmip_GIT_REPOSITORY https://github.com/RobotLocomotion/yalmip.git)
set(yalmip_GIT_TAG c071fb7b7193491f8eefadba3bfff26160ad6cd4)
set(yalmip_IS_PUBLIC TRUE)
set(xfoil_GIT_REPOSITORY https://github.com/RobotLocomotion/xfoil.git)
set(xfoil_GIT_TAG fde0a9368dd451c93604051fc5704e120073800c)
set(xfoil_IS_PUBLIC TRUE)
# and now for the examples
set(LittleDog_GIT_REPOSITORY https://github.com/RobotLocomotion/LittleDog.git)
set(LittleDog_GIT_TAG a21aef548c33386243c40e315b1c70d83c122430)
find_program(MAKE_EXECUTABLE make)
if (NOT MAKE_EXECUTABLE)
message(FATAL_ERROR "couldn't find gnu make")
endif()
if (${CMAKE_GENERATOR} STREQUAL "Unix Makefiles")
set(PODS_MAKE_COMMAND "$(MAKE)") # so we can pass through commandline
arguments.
else()
set(PODS_MAKE_COMMAND ${MAKE_EXECUTABLE})
endif()
# process optional projects
# note: keep drake in this loop in case externals depend on drake (e.g. the dire
ctor might in the near future)
set(EXTERNAL_PROJECTS)
foreach(proj IN ITEMS
cmake
eigen
gtk
lcm
libbot
bullet
spotless
director
signalscope
octomap
snopt
gurobi
mosek
iris
yalmip
gloptipoly
bertini
sedumi
avl
xfoil
meshconverters
drake)
string(TOUPPER ${proj} proj_upper)
if ( ${proj} STREQUAL "drake" OR
${proj} STREQUAL "cmake" OR
WITH_${proj_upper} OR
(WITH_ALL_SUPPORTED_EXTERNALS AND DEFINED WITH_${proj_upper}) OR
(WITH_ALL_PUBLIC_EXTERNALS AND ${proj}_IS_PUBLIC AND DEFINED WITH_${proj
_upper}) )
list(APPEND EXTERNAL_PROJECTS ${proj})

elseif(REMOVE_UNUSED_EXTERNALS AND IS_DIRECTORY ${proj})

message(STATUS "removing unused project: ${proj}")
if (NOT ${proj}_NO_BUILD)
execute_process(COMMAND ${MAKE_EXECUTABLE} BUILD_PREFIX=
${CMAKE_INSTALL_PREFIX} BUILD_TYPE=${CMAKE_BUILD_TYPE} clean
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/
${proj})
endif()
execute_process(COMMAND ${CMAKE_COMMAND} -E remove_directory "${
PROJECT_SOURCE_DIR}/${proj}")
endif()
endforeach()
set(EXTERNAL_SOURCE_DIRS)
foreach (proj ${EXTERNAL_PROJECTS})
set(deps)
foreach(dep ${${proj}_dependencies})
list(FIND EXTERNAL_PROJECTS ${dep} find_result)
if (${dep} STREQUAL "drake" OR NOT find_result EQUAL -1)
list(APPEND deps ${dep})
endif()
endforeach()
if (NOT ${proj} STREQUAL "drake")
if (NOT ${proj}_GIT_CLONE_DIR)
set(${proj}_GIT_CLONE_DIR "${PROJECT_SOURCE_DIR}/externa
ls/${proj}")
endif()
if (NOT ${proj}_SOURCE_DIR)
set(${proj}_SOURCE_DIR ${${proj}_GIT_CLONE_DIR})
endif()
if (NOT DEFINED ${proj}_CONFIGURE_COMMAND AND ${proj}_IS_CMAKE_P
OD)
set(${proj}_CONFIGURE_COMMAND ${CMAKE_COMMAND} -E make_d
irectory ${${proj}_SOURCE_DIR}/pod-build
COMMAND ${CMAKE_COMMAND} -E chdir ${${pr
oj}_SOURCE_DIR}/pod-build ${CMAKE_COMMAND} -G${CMAKE_GENERATOR} -DCMAKE_INSTALL_
PREFIX=${CMAKE_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} ..)
endif()
if (NOT DEFINED ${proj}_BUILD_COMMAND)
if (${proj}_IS_CMAKE_POD)
set(${proj}_BUILD_COMMAND ${CMAKE_COMMAND} -E ch
dir ${${proj}_SOURCE_DIR} ${CMAKE_COMMAND} --build pod-build --config ${CMAKE_BU
ILD_TYPE} --target install)
elseif(${proj}_NO_BUILD)
set(${proj}_BUILD_COMMAND "")
else()# then use the PODS gnu make system
set(${proj}_BUILD_COMMAND ${PODS_MAKE_COMMAND} B
UILD_PREFIX=${CMAKE_INSTALL_PREFIX} BUILD_TYPE=${CMAKE_BUILD_TYPE})
endif()
endif()
set(EXTERNAL_SOURCE_DIRS ${EXTERNAL_SOURCE_DIRS} ${${proj}_SOURC
E_DIR} "\n")
message(STATUS "Preparing to build ${proj} with dependencies: ${
deps}")
# separate download target so I can make the download-all custom
command as recommended in:
# http://comments.gmane.org/gmane.comp.programming.tools.cmake

.user/53002
if (AUTO_UPDATE_EXTERNALS)
ExternalProject_Add(download-${proj}
DOWNLOAD_DIR ${${proj}_GIT_CLONE_DIR}
SOURCE_DIR ${${proj}_GIT_CLONE_DIR}
GIT_REPOSITORY ${${proj}_GIT_REPOSITORY}
GIT_TAG ${${proj}_GIT_TAG}
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
)
else()
ExternalProject_Add(download-${proj}
DOWNLOAD_DIR ${${proj}_GIT_CLONE_DIR}
SOURCE_DIR ${${proj}_GIT_CLONE_DIR}
GIT_REPOSITORY ${${proj}_GIT_REPOSITORY}
GIT_TAG ${${proj}_GIT_TAG}
UPDATE_COMMAND ""
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
)
endif()
# now the actual project
ExternalProject_Add(${proj}
SOURCE_DIR ${${proj}_SOURCE_DIR}
#
BINARY_DIR ${${proj}_SOURCE_DIR}/pod-buil
d

DOWNLOAD_COMMAND ""
UPDATE_COMMAND ""
CONFIGURE_COMMAND "${${proj}_CONFIGURE_COMMAND}"
BUILD_IN_SOURCE 1
BUILD_COMMAND "${${proj}_BUILD_COMMAND}"
INSTALL_COMMAND ""
DEPENDS download-${proj} ${deps}
${${proj}_ADDITIONAL_BUILD_ARGS}
)
message(STATUS "${proj}_BUILD_COMMAND: ${${proj}_BUILD_COMM

AND}")
else()
message(STATUS "Preparing to build ${proj} with dependencies: ${
deps}")
ExternalProject_Add(${proj}
SOURCE_DIR "${PROJECT_SOURCE_DIR}/drake"
DOWNLOAD_COMMAND ""
UPDATE_COMMAND ""
#
CONFIGURE_COMMAND ""
#
BUILD_IN_SOURCE 1
#
BUILD_COMMAND ${PODS_MAKE_COMMAND} BUILD_
PREFIX=${CMAKE_INSTALL_PREFIX} BUILD_TYPE=${CMAKE_BUILD_TYPE}
CONFIGURE_COMMAND ${CMAKE_COMMAND} -E make_direc
tory ${PROJECT_SOURCE_DIR}/drake/pod-build
COMMAND ${CMAKE_COMMAND} -E chdir ${PROJECT_SOUR
CE_DIR}/drake/pod-build ${CMAKE_COMMAND} -G${CMAKE_GENERATOR} -DCMAKE_INSTALL_PR
EFIX=${CMAKE_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} ..
BUILD_COMMAND ${CMAKE_COMMAND} --build ${PROJECT
_SOURCE_DIR}/drake/pod-build --config ${CMAKE_BUILD_TYPE} --target install

INSTALL_COMMAND ""
DEPENDS ${deps}
${${proj}_ADDITIONAL_BUILD_ARGS}
#
BUILD_ALWAYS 1
)
endif(NOT ${proj} STREQUAL "drake")
# once we require cmake version >= 3.1, then we can zap this and just us
e the BUILD_ALWAYS flags above
ExternalProject_Add_Step(${proj} forceconfigure
COMMAND ${CMAKE_COMMAND} -E echo "Force configure of ${p
roj}"
DEPENDEES update
DEPENDERS configure
ALWAYS 1)
endforeach()
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/drake_external_source_dirs.txt ${EXTERNAL
_SOURCE_DIRS})
# todo: add a custom target for release_filelist
add_custom_target(download-all)
add_custom_target(clean-all)
add_custom_target(status)
set(PROJECT_LIST)
foreach (proj ${EXTERNAL_PROJECTS})
if (NOT ${proj} STREQUAL "drake")
add_dependencies(download-all download-${proj})
ExternalProject_Get_Property(download-${proj} SOURCE_DIR)
add_custom_target(status-${proj}
COMMAND ${GIT_EXECUTABLE} status
WORKING_DIRECTORY ${SOURCE_DIR})
add_dependencies(status status-${proj})
endif()
ExternalProject_Get_Property(${proj} SOURCE_DIR)
if (NOT ${proj}_NO_BUILD)
add_custom_target(clean-${proj}
COMMAND ${PODS_MAKE_COMMAND} BUILD_PREFIX=${CMAK
E_INSTALL_PREFIX} BUILD_TYPE=${CMAKE_BUILD_TYPE} clean
WORKING_DIRECTORY ${SOURCE_DIR})
add_dependencies(clean-all clean-${proj})
endif()
list(APPEND PROJECT_LIST ${SOURCE_DIR})
endforeach()
# process optional examples
foreach (example IN ITEMS
LittleDog)
string(TOUPPER ${example} example_upper)
if (EXAMPLES_${example_upper})
message(STATUS "Installation will include extra example: ${examp
le}")
ExternalProject_Add(download-${example}
DOWNLOAD_DIR ${PROJECT_SOURCE_DIR}/drake/example
s/${example}
SOURCE_DIR ${PROJECT_SOURCE_DIR}/drake/examples/
${example}

GIT_REPOSITORY ${${example}_GIT_REPOSITORY}
GIT_TAG ${${example}_GIT_TAG}
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
)
add_dependencies(drake download-${example})
add_dependencies(download-all download-${example})
endif()
endforeach()
string(REPLACE ";" " " PROJECT_LIST "${PROJECT_LIST}")
add_custom_target(list-project-dirs COMMAND echo "${PROJECT_LIST}")
## grab and install precompiled snopt
# todo: look for snopt_c
if (snopt_c_FOUND OR WITH_SNOPT)
set(WITH_SNOPT_PRECOMPILED OFF)
endif()
if (WITH_SNOPT_PRECOMPILED)
message(STATUS "Preparing to install precompiled snopt")
ExternalProject_Add(download-snopt-precompiled
URL "http://drake002.csail.mit.edu/drake/drakeSnopt.zip"
SOURCE_DIR "${CMAKE_BINARY_DIR}/snopt-precompiled"
CONFIGURE_COMMAND ""
BUILD_COMMAND cmake -E copy_directory ${CMAKE_BINARY_DIR}/snoptprecompiled/ ${PROJECT_SOURCE_DIR}/drake/solvers/
INSTALL_COMMAND "")
add_dependencies(download-all download-snopt-precompiled)
add_dependencies(drake download-snopt-precompiled) # just in case: make sure a
ny compiled drake version happens after precompiled install
endif()