modernize cmake syntax

CMakeLists.txt

@@ -27,7 +27,8 @@ if(NOT EXISTS "${_ompl_cmake_modules_path}")
 endif()
 
 set(CMAKE_MODULE_PATH
-    "${CMAKE_MODULE_PATH}"
+    "${CMAKE_MODULE_PATH}") 
+list(APPEND CMAKE_MODULE_PATH
     "${CMAKE_ROOT_DIR}/cmake/Modules"
     "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules"
     "${_ompl_cmake_modules_path}")
@@ -124,81 +125,79 @@ set_package_properties(Triangle PROPERTIES
     URL "http://www.cs.cmu.edu/~quake/triangle.html"
     PURPOSE "Used to create triangular decompositions of polygonal 2D environments.")
 find_package(Triangle QUIET)
+set(OMPL_EXTENSION_TRIANGLE ${TRIANGLE_FOUND})
+
 set_package_properties(flann PROPERTIES
     URL "https://github.com/mariusmuja/flann"
     PURPOSE "If detetected, FLANN can be used for nearest neighbor queries by OMPL.")
 find_package(flann CONFIG 1.9.2 QUIET)
+if (flann_FOUND)
+    set(OMPL_HAVE_FLANN 1)
+endif()
+
 set_package_properties(spot PROPERTIES
     URL "http://spot.lrde.epita.fr"
     PURPOSE "Used for constructing finite automata from LTL formulae.")
 find_package(spot)
+if (spot_FOUND)
+    set(OMPL_HAVE_SPOT 1)
+endif()
+
 set_package_properties(assimp PROPERTIES
     URL "http://assimp.org"
     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")
 find_package(assimp REQUIRED)
-set_package_properties(ccd PROPERTIES
-    URL "https://github.com/danfis/libccd"
-    PURPOSE "Collision detection library used by fcl.")
-find_package(ccd REQUIRED)
+
 set_package_properties(fcl PROPERTIES
     URL "https://github.com/flexible-collision-library/fcl"
     PURPOSE "The default collision checking library.")
-find_package(octomap QUIET)
 find_package(fcl REQUIRED)
+
 set_package_properties(Threads PROPERTIES
     URL "https://en.wikipedia.org/wiki/POSIX_Threads"
     PURPOSE "Pthreads is sometimes needed, depending on OS / compiler.")
 find_package(Threads QUIET)
+
 set_package_properties(Doxygen PROPERTIES
     URL "http://doxygen.org"
     PURPOSE "Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).")
 find_package(Doxygen)
 
 enable_testing()
 
-include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
+# Add support in Boost::Python for std::shared_ptr
+# This is a hack that replaces boost::shared_ptr related code with std::shared_ptr.
+# Proper support for std::shared_ptr was added in Boost 1.63.
+if (NOT Boost_VERSION_STRING)
+    if (Boost_VERSION_MAJOR)
+        set(Boost_VERSION_STRING
+            "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}")
+    else()
+        set(Boost_VERSION_STRING
+            "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_PATCH_VERSION}")
+    endif()
+endif()
+if(Boost_VERSION_STRING VERSION_LESS "1.63.0")
+    include_directories("${CMAKE_CURRENT_SOURCE_DIR}/ompl/src/external")
+endif()
+
 include_directories(
     "${OMPLAPP_INCLUDE_DIRS}"
-    "${OMPL_INCLUDE_DIRS}"
-    "${EIGEN3_INCLUDE_DIR}"
-    "${FCL_INCLUDE_DIRS}"
-    "${ASSIMP_INCLUDE_DIRS}")
-
-# ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
-# enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
-# likely), but fcl.pc doesn't have that information, so we just add it to the
-# include path.
-if(DEFINED ENV{ROS_DISTRO})
-    include_directories("/opt/ros/$ENV{ROS_DISTRO}/include")
-endif()
+    "${OMPL_INCLUDE_DIRS}")
 
 set(OMPLAPP_MODULE_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARY}
-    ${FCL_LIBRARIES})
+    assimp::assimp
+    fcl::fcl)
 set(OMPLAPP_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARIES}
-    ${FCL_LIBRARIES})
-link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})
+    assimp::assimp
+    fcl)
 
 if (OPENGL_INCLUDE_DIR)
     include_directories("${OPENGL_INCLUDE_DIR}")
 endif()
 
-set(OMPL_EXTENSION_TRIANGLE ${TRIANGLE_FOUND})
-if (OMPL_EXTENSION_TRIANGLE)
-  include_directories(${TRIANGLE_INCLUDE_DIR})
-endif()
-
-if (flann_FOUND)
-    set(OMPL_HAVE_FLANN 1)
-endif()
-
-if (spot_FOUND)
-    set(OMPL_HAVE_SPOT 1)
-endif()
-
 # Numpy is used to convert Eigen matrices/vectors to numpy arrays
 if(PYTHON_FOUND)
     find_python_module(numpy)
@@ -263,7 +262,7 @@ if(OPENGL_FOUND AND NOT MSVC)
     target_link_flags(ompl ompl_app_base ompl_app)
     set(PKG_NAME "ompl")
     set(PKG_DESC "The Open Motion Planning Library")
-    set(PKG_EXTERNAL_DEPS "eigen3 ${ompl_PKG_DEPS}")
+    set(PKG_EXTERNAL_DEPS "${ompl_PKG_DEPS}")
     set(PKG_OMPL_LIBS "-lompl -lompl_app_base -lompl_app ${ompl_LINK_FLAGS}")
     configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/ompl.pc.in"
                    "${CMAKE_CURRENT_BINARY_DIR}/ompl.pc" @ONLY)
@@ -288,14 +287,20 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
     COMPONENT ompl)
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/ ${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/
-    DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
-    COMPONENT ompl
-    FILES_MATCHING PATTERN "Find*.cmake")
 install(TARGETS ompl
     EXPORT omplExport
     DESTINATION ${CMAKE_INSTALL_LIBDIR}
     COMPONENT ompl)
+install(TARGETS ompl_app_base
+    EXPORT omplExport
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    COMPONENT omplapp)
+if(TARGET ompl_app)
+    install(TARGETS ompl_app
+        EXPORT omplExport
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        COMPONENT omplapp)
+endif()
 install(EXPORT omplExport
     NAMESPACE ompl::
     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake)

README.md

@@ -12,8 +12,8 @@ detailed installation instructions.
 
 OMPL.app has the following required dependencies:
 
-* [Boost](https://www.boost.org) (version 1.68 or higher)
-* [CMake](https://www.cmake.org) (version 3.5 or higher)
+* [Boost](https://www.boost.org) (version 1.58 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)

benchmark/CMakeLists.txt

@@ -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

src/omplapp/CMakeLists.txt

@@ -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}>"