def check_robdyn(conf):
includes_check = ['/usr/local/include/robdyn', '/usr/include/robdyn']
libs_check = ['/usr/local/lib', '/usr/lib']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include/robdyn'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
if conf.options.robdyn:
includes_check = [conf.options.robdyn + '/include/robdyn']
libs_check = [conf.options.robdyn + '/lib']
try:
conf.start_msg('Checking for robdyn includes')
res = conf.find_file('ode/environment.hh', includes_check)
res = res and conf.find_file('ode/environment_hexa.hh', includes_check)
conf.end_msg('ok')
conf.start_msg('Checking for robdyn libs')
res = res and conf.find_file('librobdyn.a', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_ROBDYN = includes_check
conf.env.LIBPATH_ROBDYN = libs_check
conf.env.DEFINES_ROBDYN = ['USE_ROBDYN']
conf.env.LIB_ROBDYN = ['robdyn']
conf.start_msg('Checking for robdyn osg visitor libs')
res = res and conf.find_file('librobdyn_osgvisitor.a', libs_check)
conf.end_msg('ok')
conf.get_env()['BUILD_GRAPHIC'] = True
conf.env.LIB_ROBDYN.append('robdyn_osgvisitor');
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_dart(conf):
if conf.options.dart:
includes_check = [conf.options.dart + '/include']
libs_check = [conf.options.dart + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
# DART requires some of bullets includes (if installed with bullet enabled)
bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
bullet_found = False
try:
bullet_found = conf.find_file('btBulletCollisionCommon.h',
bullet_check)
except:
bullet_found = False
# DART requires assimp library
assimp_check = ['/usr/local/include', '/usr/include']
assimp_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
assimp_found = False
try:
assimp_found = conf.find_file('assimp/scene.h', assimp_check)
assimp_found = assimp_found and conf.find_file('libassimp.so',
assimp_libs)
except:
assimp_found = False
# DART requires OSG library for their graphic version
osg_check = ['/usr/local/include', '/usr/include']
osg_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu']
osg_found = False
osg_comp = ['osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB']
try:
osg_found = True
for f in osg_comp:
osg_found = osg_found and conf.find_file(f + '/Version', osg_check)
osg_found = osg_found and conf.find_file('lib' + f + '.so',
osg_libs)
except:
osg_found = False
try:
conf.start_msg('Checking for DART includes (including utils/urdf)')
res = conf.find_file('dart/dart.hpp', includes_check)
res = res and conf.find_file('dart/utils/utils.hpp', includes_check)
res = res and conf.find_file('dart/utils/urdf/urdf.hpp',
includes_check)
conf.end_msg('ok')
try:
conf.start_msg('Checking for DART gui includes')
res = res and conf.find_file('dart/gui/gui.hpp', includes_check)
res = res and conf.find_file('dart/gui/osg/osg.hpp',
includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
conf.start_msg('DART: Checking for optional Bullet includes')
more_includes = []
if bullet_found:
more_includes += bullet_check
conf.end_msg('ok')
else:
conf.end_msg(
'Not found - be sure that your DART installation is without Bullet enabled',
'RED')
if assimp_found:
more_includes += assimp_check
conf.start_msg('Checking for DART libs (including utils/urdf)')
res = res and conf.find_file('libdart.so', libs_check)
res = res and conf.find_file('libdart-utils.so', libs_check)
res = res and conf.find_file('libdart-utils-urdf.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART = includes_check + more_includes
conf.env.LIBPATH_DART = libs_check
conf.env.LIB_DART = ['dart', 'dart-utils', 'dart-utils-urdf']
conf.start_msg('DART: Checking for Assimp')
if assimp_found:
conf.end_msg('ok')
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + assimp_libs
conf.env.LIB_DART.append('assimp')
else:
conf.end_msg('Not found - Your programs may not compile', 'RED')
if bullet_found:
conf.env.LIB_DART.append('BulletCollision')
conf.env.LIB_DART.append('LinearMath')
try:
conf.start_msg('Checking for DART gui libs')
res = res and conf.find_file('libdart-gui.so', libs_check)
res = res and conf.find_file('libdart-gui-osg.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART_GRAPHIC = conf.env.INCLUDES_DART
conf.env.LIBPATH_DART_GRAPHIC = conf.env.LIBPATH_DART
conf.env.LIB_DART_GRAPHIC = conf.env.LIB_DART + [
'dart-gui', 'dart-gui-osg'
]
conf.start_msg('DART: Checking for OSG (optional)')
if osg_found:
conf.env.INCLUDES_DART_GRAPHIC += osg_check
conf.env.LIBPATH_DART_GRAPHIC += osg_libs
conf.env.LIB_DART_GRAPHIC += osg_comp
conf.end_msg('ok')
else:
conf.end_msg(
'Not found - Your graphical programs may not compile/link',
'RED')
conf.get_env()['BUILD_GRAPHIC'] = True
except:
conf.end_msg('Not found', 'RED')
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_dart(conf, *k, **kw):
def fail(msg, required):
if required:
conf.fatal(msg)
conf.end_msg(msg, 'RED')
def get_directory(filename, dirs):
res = conf.find_file(filename, dirs)
return res[:-len(filename) - 1]
required = kw.get('required', False)
# OSX/Mac uses .dylib and GNU/Linux .so
suffix = 'dylib' if conf.env['DEST_OS'] == 'darwin' else 'so'
if conf.options.dart:
includes_check = [conf.options.dart + '/include']
libs_check = [conf.options.dart + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = [
'/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64',
'/usr/lib/x86_64-linux-gnu/'
]
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
# DART requires assimp library
assimp_include = []
assimp_lib = []
assimp_check = ['/usr/local/include', '/usr/include']
assimp_libs = [
'/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64',
'/usr/lib/x86_64-linux-gnu/'
]
assimp_found = False
try:
assimp_include = get_directory('assimp/scene.h', assimp_check)
assimp_lib = [get_directory('libassimp.' + suffix, assimp_libs)]
assimp_found = True
except:
assimp_found = False
# DART has some optional Bullet features
bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
bullet_libs = [
'/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64',
'/usr/lib/x86_64-linux-gnu/'
]
bullet_include = []
bullet_lib = []
bullet_found = False
try:
bullet_include = [
get_directory('btBulletCollisionCommon.h', bullet_check)
]
bullet_lib = []
bullet_lib.append(get_directory('libLinearMath.' + suffix,
bullet_libs))
bullet_lib.append(
get_directory('libBulletCollision.' + suffix, bullet_libs))
bullet_lib = list(set(bullet_lib))
bullet_found = True
except:
bullet_found = False
# DART has some optional ODE features
ode_check = ['/usr/local/include', '/usr/include']
ode_libs = [
'/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64',
'/usr/lib/x86_64-linux-gnu/'
]
ode_include = []
ode_lib = []
ode_found = False
try:
ode_include = [get_directory('ode/collision.h', ode_check)]
ode_lib = [get_directory('libode.' + suffix, ode_libs)]
ode_found = True
except:
ode_found = False
# DART requires OSG library for their graphic version
osg_include = []
osg_lib = []
osg_check = ['/usr/local/include', '/usr/include']
osg_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu']
osg_found = False
osg_comp = [
'osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB', 'osgShadow',
'OpenThreads'
]
try:
for f in osg_comp:
osg_include = [get_directory(f + '/Version', osg_check)]
osg_lib = [get_directory('lib' + f + '.' + suffix, osg_libs)]
osg_found = True
osg_include = list(set(osg_include))
osg_lib = list(set(osg_lib))
except:
osg_found = False
dart_load_prefix = 'utils'
dart_include = []
dart_major = -1
dart_minor = -1
dart_patch = -1
try:
conf.start_msg('Checking for DART includes (including io/urdf)')
config_file = conf.find_file('dart/config.hpp', includes_check)
with open(config_file) as f:
config_content = f.readlines()
for line in config_content:
major = line.find('#define DART_MAJOR_VERSION')
minor = line.find('#define DART_MINOR_VERSION')
patch = line.find('#define DART_PATCH_VERSION')
if major > -1:
dart_major = int(line.split(' ')[-1].strip())
if minor > -1:
dart_minor = int(line.split(' ')[-1].strip())
if patch > -1:
dart_patch = int(line.split(' ')[-1].strip())
if dart_major > 0 and dart_minor > 0 and dart_patch > 0:
break
if dart_major < 6:
raise Exception('We need DART version at least 6.0.0')
if dart_major > 6:
dart_load_prefix = 'io'
dart_cxx_flags = ''
if dart_major > 6 or (dart_major == 6 and dart_minor >= 9):
dart_cxx_flags = '-std=c++14'
dart_include = []
dart_include.append(get_directory('dart/dart.hpp', includes_check))
dart_include.append(
get_directory(
'dart/' + dart_load_prefix + '/' + dart_load_prefix + '.hpp',
includes_check))
dart_include.append(
get_directory('dart/' + dart_load_prefix + '/urdf/urdf.hpp',
includes_check))
dart_include = list(set(dart_include))
conf.end_msg(
str(dart_major) + '.' + str(dart_minor) + '.' + str(dart_patch) +
' in ' + dart_include[0])
gui_include = []
try:
conf.start_msg('Checking for DART gui includes')
gui_include.append(
get_directory('dart/gui/gui.hpp', includes_check))
gui_include.append(
get_directory('dart/gui/osg/osg.hpp', includes_check))
gui_include = list(set(gui_include))
conf.end_msg(gui_include[0])
except:
conf.end_msg('Not found', 'RED')
more_includes = []
if osg_found:
more_includes += osg_include
if assimp_found:
more_includes += assimp_include
conf.start_msg('Checking for DART libs (including io/urdf)')
dart_lib = []
dart_lib.append(get_directory('libdart.' + suffix, libs_check))
dart_lib.append(
get_directory('libdart-' + dart_load_prefix + '.' + suffix,
libs_check))
dart_lib.append(
get_directory('libdart-' + dart_load_prefix + '-urdf.' + suffix,
libs_check))
dart_lib = list(set(dart_lib))
conf.env.INCLUDES_DART = dart_include + more_includes
conf.env.LIBPATH_DART = dart_lib
conf.env.LIB_DART = [
'dart', 'dart-' + dart_load_prefix,
'dart-' + dart_load_prefix + '-urdf'
]
if len(dart_cxx_flags) > 0:
conf.env.CXXFLAGS_DART = [dart_cxx_flags]
conf.end_msg(conf.env.LIB_DART)
conf.start_msg('DART: Checking for Assimp')
if assimp_found:
conf.end_msg(assimp_include)
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + assimp_lib
conf.env.LIB_DART.append('assimp')
else:
conf.end_msg('Not found - Your programs may not compile', 'RED')
conf.start_msg('DART: Checking for Bullet Collision libs')
if bullet_found:
try:
bullet_lib.append(
get_directory('libdart-collision-bullet.' + suffix,
libs_check))
conf.env.INCLUDES_DART = conf.env.INCLUDES_DART + bullet_include
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + bullet_lib
conf.env.LIB_DART.append('LinearMath')
conf.env.LIB_DART.append('BulletCollision')
conf.env.LIB_DART.append('dart-collision-bullet')
conf.end_msg('libs: ' + str(conf.env.LIB_DART[-3:]) +
', bullet: ' + str(bullet_include[0]))
except:
conf.end_msg('Not found', 'RED')
else:
conf.end_msg('Not found', 'RED')
conf.start_msg('DART: Checking for Ode Collision libs')
if ode_found:
try:
ode_lib.append(
get_directory('libdart-collision-ode.' + suffix,
libs_check))
conf.env.INCLUDES_DART = conf.env.INCLUDES_DART + ode_include
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + ode_lib
conf.env.LIB_DART.append('ode')
conf.env.LIB_DART.append('dart-collision-ode')
conf.end_msg('libs: ' + str(conf.env.LIB_DART[-2:]) +
', ode: ' + str(ode_include[0]))
except:
conf.end_msg('Not found', 'RED')
else:
conf.end_msg('Not found', 'RED')
# remove duplicates
conf.env.INCLUDES_DART = list(set(conf.env.INCLUDES_DART))
conf.env.LIBPATH_DART = list(set(conf.env.LIBPATH_DART))
try:
conf.start_msg('DART: Checking for gui libs')
dart_gui_lib = []
dart_gui_lib.append(
get_directory('libdart-gui.' + suffix, libs_check))
dart_gui_lib.append(
get_directory('libdart-gui-osg.' + suffix, libs_check))
conf.env.INCLUDES_DART_GRAPHIC = deepcopy(conf.env.INCLUDES_DART)
conf.env.LIBPATH_DART_GRAPHIC = deepcopy(
conf.env.LIBPATH_DART) + dart_gui_lib
conf.env.LIB_DART_GRAPHIC = deepcopy(
conf.env.LIB_DART) + ['dart-gui', 'dart-gui-osg']
conf.end_msg(conf.env.LIB_DART_GRAPHIC[-2:])
conf.start_msg('DART: Checking for OSG (optional)')
if osg_found:
conf.env.INCLUDES_DART_GRAPHIC += osg_include
conf.env.LIBPATH_DART_GRAPHIC += osg_lib
conf.env.LIB_DART_GRAPHIC += osg_comp
conf.end_msg(osg_comp)
else:
conf.end_msg(
'Not found - Your graphical programs may not compile/link',
'RED')
conf.get_env()['BUILD_GRAPHIC'] = True
# remove duplicates
conf.env.INCLUDES_DART_GRAPHIC = list(
set(conf.env.INCLUDES_DART_GRAPHIC))
conf.env.LIBPATH_DART_GRAPHIC = list(
set(conf.env.LIBPATH_DART_GRAPHIC))
except:
conf.end_msg('Not found', 'RED')
except:
if dart_major < 6 and dart_major > -1:
fail('We need DART >= 6.0.0', required)
else:
fail('Not found', required)
return
return 1
def check_dart(conf):
if conf.options.dart:
includes_check = [conf.options.dart + '/include']
libs_check = [conf.options.dart + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
# DART requires some of bullets includes (if installed with bullet enabled)
bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
bullet_found = False
try:
bullet_found = conf.find_file('btBulletCollisionCommon.h', bullet_check)
except:
bullet_found = False
# DART requires assimp library
assimp_check = ['/usr/local/include', '/usr/include']
assimp_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
assimp_found = False
try:
assimp_found = conf.find_file('assimp/scene.h', assimp_check)
assimp_found = assimp_found and conf.find_file('libassimp.so', assimp_libs)
except:
assimp_found = False
# DART requires OSG library for their graphic version
osg_check = ['/usr/local/include', '/usr/include']
osg_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu']
osg_found = False
osg_comp = ['osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB']
try:
osg_found = True
for f in osg_comp:
osg_found = osg_found and conf.find_file(f + '/Version', osg_check)
osg_found = osg_found and conf.find_file('lib' + f + '.so', osg_libs)
except:
osg_found = False
try:
conf.start_msg('Checking for DART includes (including utils/urdf)')
res = conf.find_file('dart/dart.hpp', includes_check)
res = res and conf.find_file('dart/utils/utils.hpp', includes_check)
res = res and conf.find_file('dart/utils/urdf/urdf.hpp', includes_check)
conf.end_msg('ok')
try:
conf.start_msg('Checking for DART gui includes')
res = res and conf.find_file('dart/gui/gui.hpp', includes_check)
res = res and conf.find_file('dart/gui/osg/osg.hpp', includes_check)
conf.end_msg('ok')
except:
conf.end_msg('Not found', 'RED')
conf.start_msg('DART: Checking for optional Bullet includes')
more_includes = []
if bullet_found:
more_includes += bullet_check
conf.end_msg('ok')
else:
conf.end_msg('Not found - be sure that your DART installation is without Bullet enabled', 'RED')
if assimp_found:
more_includes += assimp_check
conf.start_msg('Checking for DART libs (including utils/urdf)')
res = res and conf.find_file('libdart.so', libs_check)
res = res and conf.find_file('libdart-utils.so', libs_check)
res = res and conf.find_file('libdart-utils-urdf.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART = includes_check + more_includes
conf.env.LIBPATH_DART = libs_check
conf.env.LIB_DART = ['dart', 'dart-utils', 'dart-utils-urdf']
conf.start_msg('DART: Checking for Assimp')
if assimp_found:
conf.end_msg('ok')
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + assimp_libs
conf.env.LIB_DART.append('assimp')
else:
conf.end_msg('Not found - Your programs may not compile', 'RED')
if bullet_found:
conf.env.LIB_DART.append('BulletCollision')
conf.env.LIB_DART.append('LinearMath')
try:
conf.start_msg('Checking for DART gui libs')
res = res and conf.find_file('libdart-gui.so', libs_check)
res = res and conf.find_file('libdart-gui-osg.so', libs_check)
conf.end_msg('ok')
conf.env.INCLUDES_DART_GRAPHIC = conf.env.INCLUDES_DART
conf.env.LIBPATH_DART_GRAPHIC = conf.env.LIBPATH_DART
conf.env.LIB_DART_GRAPHIC = conf.env.LIB_DART + ['dart-gui', 'dart-gui-osg']
conf.start_msg('DART: Checking for OSG (optional)')
if osg_found:
conf.env.INCLUDES_DART_GRAPHIC += osg_check
conf.env.LIBPATH_DART_GRAPHIC += osg_libs
conf.env.LIB_DART_GRAPHIC += osg_comp
conf.end_msg('ok')
else:
conf.end_msg('Not found - Your graphical programs may not compile/link', 'RED')
conf.get_env()['BUILD_GRAPHIC'] = True
except:
conf.end_msg('Not found', 'RED')
except:
conf.end_msg('Not found', 'RED')
return
return 1
def check_dart(conf, *k, **kw):
def fail(msg, required):
if required:
conf.fatal(msg)
conf.end_msg(msg, 'RED')
if conf.options.dart:
includes_check = [conf.options.dart + '/include']
libs_check = [conf.options.dart + '/lib']
else:
includes_check = ['/usr/local/include', '/usr/include']
libs_check = [
'/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/'
]
if 'RESIBOTS_DIR' in os.environ:
includes_check = [os.environ['RESIBOTS_DIR'] + '/include'
] + includes_check
libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
required = kw.get('required', False)
# DART requires assimp library
assimp_include = []
assimp_lib = []
assimp_check = ['/usr/local/include', '/usr/include']
assimp_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
assimp_found = False
try:
assimp_found = conf.find_file('assimp/scene.h', assimp_check)
assimp_include = [assimp_found[:-len('assimp/scene.h') - 1]]
assimp_found = assimp_found and conf.find_file('libassimp.so',
assimp_libs)
assimp_lib = [assimp_found[:-len('libassimp.so') - 1]]
except:
assimp_found = False
# DART has some optional Bullet features
bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
bullet_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu/']
bullet_include = []
bullet_lib = []
bullet_found = False
try:
bullet_found = conf.find_file('btBulletCollisionCommon.h',
bullet_check)
bullet_include = [bullet_found[:-len('btBulletCollisionCommon.h') - 1]]
bullet_found = conf.find_file('libLinearMath.so', bullet_libs)
bullet_found = conf.find_file('libBulletCollision.so', bullet_libs)
bullet_lib = [bullet_found[:-len('libBulletCollision.so') - 1]]
except:
bullet_found = False
# DART requires OSG library for their graphic version
osg_include = []
osg_lib = []
osg_check = ['/usr/local/include', '/usr/include']
osg_libs = ['/usr/local/lib', '/usr/lib', '/usr/lib/x86_64-linux-gnu']
osg_found = False
osg_comp = ['osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB']
try:
osg_found = True
for f in osg_comp:
osg_found = osg_found and conf.find_file(f + '/Version', osg_check)
osg_include = [osg_found[:-len(f + '/Version') - 1]]
osg_found = osg_found and conf.find_file('lib' + f + '.so',
osg_libs)
osg_lib = [osg_found[:-len('lib' + f + '.so') - 1]]
except:
osg_found = False
dart_load_prefix = 'utils'
dart_include = []
dart_major = -1
dart_minor = -1
dart_patch = -1
try:
conf.start_msg('Checking for DART includes (including io/urdf)')
config_file = conf.find_file('dart/config.hpp', includes_check)
with open(config_file) as f:
config_content = f.readlines()
for line in config_content:
major = line.find('#define DART_MAJOR_VERSION')
minor = line.find('#define DART_MINOR_VERSION')
patch = line.find('#define DART_PATCH_VERSION')
if major > -1:
dart_major = int(line.split(' ')[-1].strip())
if minor > -1:
dart_minor = int(line.split(' ')[-1].strip())
if patch > -1:
dart_patch = int(line.split(' ')[-1].strip())
if dart_major > 0 and dart_minor > 0 and dart_patch > 0:
break
if dart_major < 6:
raise Exception('')
if dart_major == 6 and dart_minor >= 4:
dart_load_prefix = 'io'
res = conf.find_file('dart/dart.hpp', includes_check)
res = res and conf.find_file(
'dart/' + dart_load_prefix + '/' + dart_load_prefix + '.hpp',
includes_check)
res = res and conf.find_file(
'dart/' + dart_load_prefix + '/urdf/urdf.hpp', includes_check)
dart_include = [
res[:-len('dart/' + dart_load_prefix + '/urdf/urdf.hpp') - 1]
]
conf.end_msg(
str(dart_major) + '.' + str(dart_minor) + '.' + str(dart_patch) +
' in ' + dart_include[0])
try:
conf.start_msg('Checking for DART gui includes')
res = res and conf.find_file('dart/gui/gui.hpp', includes_check)
res = res and conf.find_file('dart/gui/osg/osg.hpp',
includes_check)
conf.end_msg(res[:-len('dart/gui/osg/osg.hpp') - 1])
except:
conf.end_msg('Not found', 'RED')
more_includes = []
if osg_found:
more_includes += osg_include
if assimp_found:
more_includes += assimp_include
conf.start_msg('Checking for DART libs (including io/urdf)')
res = res and conf.find_file('libdart.so', libs_check)
res = res and conf.find_file('libdart-' + dart_load_prefix + '.so',
libs_check)
res = res and conf.find_file(
'libdart-' + dart_load_prefix + '-urdf.so', libs_check)
dart_lib = [res[:-len('libdart-' + dart_load_prefix + '-urdf.so') - 1]]
conf.env.INCLUDES_DART = dart_include + more_includes
conf.env.LIBPATH_DART = dart_lib
conf.env.LIB_DART = [
'dart', 'dart-' + dart_load_prefix,
'dart-' + dart_load_prefix + '-urdf'
]
conf.end_msg(conf.env.LIB_DART)
conf.start_msg('DART: Checking for Assimp')
if assimp_found:
conf.end_msg(assimp_include[0])
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + assimp_lib
conf.env.LIB_DART.append('assimp')
else:
conf.end_msg('Not found - Your programs may not compile', 'RED')
conf.start_msg('DART: Checking for Bullet Collision libs')
if bullet_found:
try:
res = conf.find_file('libdart-collision-bullet.so', libs_check)
conf.env.INCLUDES_DART = conf.env.INCLUDES_DART + bullet_include
conf.env.LIBPATH_DART = conf.env.LIBPATH_DART + bullet_lib
conf.env.LIB_DART.append('LinearMath')
conf.env.LIB_DART.append('BulletCollision')
conf.env.LIB_DART.append('dart-collision-bullet')
conf.end_msg('libs: ' + str(conf.env.LIB_DART[-3:]) +
', bullet: ' + str(bullet_include[0]))
except:
conf.end_msg('Not found', 'RED')
else:
conf.end_msg('Not found', 'RED')
# remove duplicates
conf.env.INCLUDES_DART = list(set(conf.env.INCLUDES_DART))
conf.env.LIBPATH_DART = list(set(conf.env.LIBPATH_DART))
try:
conf.start_msg('DART: Checking for gui libs')
res = res and conf.find_file('libdart-gui.so', libs_check)
res = res and conf.find_file('libdart-gui-osg.so', libs_check)
conf.env.INCLUDES_DART_GRAPHIC = deepcopy(conf.env.INCLUDES_DART)
conf.env.LIBPATH_DART_GRAPHIC = deepcopy(conf.env.LIBPATH_DART)
conf.env.LIB_DART_GRAPHIC = deepcopy(
conf.env.LIB_DART) + ['dart-gui', 'dart-gui-osg']
conf.end_msg(conf.env.LIB_DART_GRAPHIC[-2:])
conf.start_msg('DART: Checking for OSG (optional)')
if osg_found:
conf.env.INCLUDES_DART_GRAPHIC += osg_include
conf.env.LIBPATH_DART_GRAPHIC += osg_lib
conf.env.LIB_DART_GRAPHIC += osg_comp
conf.end_msg(osg_comp)
else:
conf.end_msg(
'Not found - Your graphical programs may not compile/link',
'RED')
conf.get_env()['BUILD_GRAPHIC'] = True
# remove duplicates
conf.env.INCLUDES_DART_GRAPHIC = list(
set(conf.env.INCLUDES_DART_GRAPHIC))
conf.env.LIBPATH_DART_GRAPHIC = list(
set(conf.env.LIBPATH_DART_GRAPHIC))
except:
conf.end_msg('Not found', 'RED')
except:
if dart_major < 6 and dart_major > -1:
fail('We need DART >= 6.0.0', required)
else:
fail('Not found', required)
return
return 1
