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https://github.com/moveit/moveit_task_constructor.git
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local names for python wrapper libs
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parent
f7ddd43d53
commit
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3
.gitignore
vendored
3
.gitignore
vendored
@ -1,2 +1,3 @@
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*.swp
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*.swp
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*.pyc
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*.so
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@ -1 +1 @@
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from _moveit_python_tools import *
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from _python_tools import *
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@ -1,3 +1,3 @@
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import moveit.python_tools
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import moveit.python_tools
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from _moveit_task_constructor_core_core import *
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from _core import *
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from _moveit_task_constructor_core_stages import *
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from _stages import *
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@ -23,14 +23,30 @@ install(TARGETS ${TOOLS_LIB_NAME}
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)
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)
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# python_tools
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# python_tools
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set(TOOLS_LIB_NAME _moveit_python_tools)
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set(TOOLS_LIB_NAME _python_tools)
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configure_file(src/python_tools.cpp.in python_tools.cpp @ONLY)
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configure_file(src/python_tools.cpp.in python_tools.cpp @ONLY)
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add_library(${TOOLS_LIB_NAME} SHARED ${CMAKE_CURRENT_BINARY_DIR}/python_tools.cpp)
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add_library(${TOOLS_LIB_NAME} SHARED ${CMAKE_CURRENT_BINARY_DIR}/python_tools.cpp)
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target_link_libraries(${TOOLS_LIB_NAME} PRIVATE moveit_python_tools)
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target_link_libraries(${TOOLS_LIB_NAME} PRIVATE moveit_python_tools)
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set(MOVEIT_PYTHON_MODULE_PATH moveit/python_tools)
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set_target_properties(${TOOLS_LIB_NAME} ${CORE_LIB_NAME} ${STAGES_LIB_NAME}
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PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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PREFIX "")
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install(TARGETS ${TOOLS_LIB_NAME}
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ARCHIVE DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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)
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add_custom_command(TARGET ${TOOLS_LIB_NAME} POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E create_symlink "$<TARGET_FILE:${TOOLS_LIB_NAME}>" "${CMAKE_CURRENT_SOURCE_DIR}/../src/${MOVEIT_PYTHON_MODULE_PATH}/$<TARGET_FILE_NAME:${TOOLS_LIB_NAME}>"
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COMMENT "Creating symlink to $<TARGET_FILE_NAME:${TOOLS_LIB_NAME}> in source space"
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)
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# core
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# core
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set(CORE_LIB_NAME _${PROJECT_NAME}_core)
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set(CORE_LIB_NAME _core)
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set(INCLUDES include/moveit/python/task_constructor)
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set(INCLUDES include/moveit/python/task_constructor)
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configure_file(src/core.cpp.in core.cpp @ONLY)
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configure_file(src/core.cpp.in core.cpp @ONLY)
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add_library(${CORE_LIB_NAME} SHARED
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add_library(${CORE_LIB_NAME} SHARED
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@ -46,7 +62,7 @@ target_include_directories(${CORE_LIB_NAME}
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target_link_libraries(${CORE_LIB_NAME} PUBLIC ${PROJECT_NAME} moveit_python_tools)
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target_link_libraries(${CORE_LIB_NAME} PUBLIC ${PROJECT_NAME} moveit_python_tools)
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# stages
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# stages
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set(STAGES_LIB_NAME _${PROJECT_NAME}_stages)
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set(STAGES_LIB_NAME _stages)
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configure_file(src/stages.cpp.in stages.cpp @ONLY)
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configure_file(src/stages.cpp.in stages.cpp @ONLY)
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add_library(${STAGES_LIB_NAME} SHARED
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add_library(${STAGES_LIB_NAME} SHARED
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${CMAKE_CURRENT_BINARY_DIR}/stages.cpp
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${CMAKE_CURRENT_BINARY_DIR}/stages.cpp
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@ -54,15 +70,22 @@ add_library(${STAGES_LIB_NAME} SHARED
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target_link_libraries(${STAGES_LIB_NAME} ${CORE_LIB_NAME} ${PROJECT_NAME}_stages)
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target_link_libraries(${STAGES_LIB_NAME} ${CORE_LIB_NAME} ${PROJECT_NAME}_stages)
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# common properties of all python wrapper libs
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set(MOVEIT_PYTHON_MODULE_PATH moveit/task_constructor)
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set_target_properties(${TOOLS_LIB_NAME} ${CORE_LIB_NAME} ${STAGES_LIB_NAME}
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set_target_properties(${CORE_LIB_NAME} ${STAGES_LIB_NAME}
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PROPERTIES
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PROPERTIES
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# create all libs in python's main folder to enable loading also from devel space
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LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}
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# no "lib" prefix
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PREFIX "")
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PREFIX "")
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install(TARGETS ${TOOLS_LIB_NAME} ${CORE_LIB_NAME} ${STAGES_LIB_NAME}
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install(TARGETS ${CORE_LIB_NAME} ${STAGES_LIB_NAME}
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ARCHIVE DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}/${MOVEIT_PYTHON_MODULE_PATH}
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)
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)
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# Add symlinks from source space to devel-space libs
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# This is necessary to find them from devel-space too
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foreach(tgt ${CORE_LIB_NAME} ${STAGES_LIB_NAME})
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add_custom_command(TARGET ${tgt} POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E create_symlink "$<TARGET_FILE:${tgt}>" "${CMAKE_CURRENT_SOURCE_DIR}/../src/${MOVEIT_PYTHON_MODULE_PATH}/$<TARGET_FILE_NAME:${tgt}>"
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COMMENT "Creating symlink to $<TARGET_FILE_NAME:${tgt}> in source space"
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)
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endforeach()
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