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[WIP] make ikfastpy link to @LAPACK_LIBRARIES@ #771

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[WIP] make ikfastpy link to @LAPACK_LIBRARIES@ #771

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af506f2
change ikfast link to LAPACK_LIBRARIES
Mar 18, 2020
c92aa87
tested
Mar 18, 2020
9fffbcf
fix undefined
Mar 18, 2020
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7 changes: 6 additions & 1 deletion python/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,9 @@ endif()

file(READ "${CMAKE_CURRENT_SOURCE_DIR}/../src/cppexamples/FindOpenRAVE.cmake" FindOpenRAVE)

# find LAPACK so that ikfastpy can link to it
find_package(LAPACK)

# python executables need renaming
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/openrave.py.in" "${CMAKE_CURRENT_BINARY_DIR}/openrave${OPENRAVE_BIN_SUFFIX}.py" IMMEDIATE @ONLY)
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/openrave-robot.py.in" "${CMAKE_CURRENT_BINARY_DIR}/openrave${OPENRAVE_BIN_SUFFIX}-robot.py" IMMEDIATE @ONLY)
Expand All @@ -28,7 +31,9 @@ install(FILES metaclass.py openravepy_ext.py misc.py pyANN.py DESTINATION ${OPEN
install(FILES openravepy.__init__.py DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR} COMPONENT ${COMPONENT_PREFIX}python RENAME __init__.py)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples" DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR} FILE_PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_EXECUTE GROUP_READ WORLD_EXECUTE WORLD_READ COMPONENT ${COMPONENT_PREFIX}python PATTERN ".svn" EXCLUDE PATTERN ".pyc" EXCLUDE)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/interfaces" DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR} FILE_PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ COMPONENT ${COMPONENT_PREFIX}python PATTERN ".svn" EXCLUDE PATTERN ".pyc" EXCLUDE)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/databases" DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR} FILE_PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ COMPONENT ${COMPONENT_PREFIX}python PATTERN ".svn" EXCLUDE PATTERN ".pyc" EXCLUDE)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/databases" DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR} FILE_PERMISSIONS OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ COMPONENT ${COMPONENT_PREFIX}python PATTERN ".svn" EXCLUDE PATTERN ".pyc" EXCLUDE PATTERN "inversekinematics.py.in" EXCLUDE)
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/databases/inversekinematics.py.in" "${CMAKE_CURRENT_BINARY_DIR}/inversekinematics.py" IMMEDIATE @ONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/inversekinematics.py DESTINATION ${OPENRAVEPY_VER_INSTALL_DIR}/databases)

set(CPACK_COMPONENT_${COMPONENT_PREFIX_UPPER}PYTHON_DISPLAY_NAME "Python ${PYTHON_MAJORMINOR_VERSION} bindings" PARENT_SCOPE)
set(CPACK_COMPONENT_${COMPONENT_PREFIX_UPPER}PYTHON_DEPENDS ${COMPONENT_PREFIX}base python-numpy python-pkg-resources openrave-python-minimal PARENT_SCOPE)
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13 changes: 4 additions & 9 deletions python/databases/inversekinematics.py → python/databases/inversekinematics.py.in
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Expand Up @@ -956,18 +956,13 @@ def solveFullIK_TranslationZAxisAngleYNorm4D(*args,**kwargs):
# because some parts of ikfast require lapack, always try to link with it
try:
iswindows = sys.platform.startswith('win') or platform.system().lower() == 'windows'
libraries = None
if self.statistics.get('usinglapack',False) or not iswindows:
libraries = ['lapack']
compiler.link_shared_object(objectfiles,output_filename=output_filename, libraries=libraries)
libraryFiles = "@LAPACK_LIBRARIES@".split(';')
compiler.link_shared_object(objectfiles,output_filename=output_filename, extra_postargs=libraryFiles)
except distutils.errors.LinkError,e:
log.warn(e)
if libraries is not None and 'lapack' in libraries:
libraries.remove('lapack')
if len(libraries) == 0:
libraries = None
log.info('linking again with %r... (MSVC bug?)',libraries)
compiler.link_shared_object(objectfiles,output_filename=output_filename, libraries=libraries)
log.info('linking again without lapack... (MSVC bug?)')
compiler.link_shared_object(objectfiles,output_filename=output_filename)

if not self.setrobot():
return ValueError('failed to generate ik solver')
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