Refactor CMake with JRL CMake Modules v2#794
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new method with COMPONENTS
they are now generated by jrl v2
if we enable OCTOMAP, the library is REQUIRED. We are supposed to have it. testing is a library is available creates opacity in what we are actually building, better to enable+require, fatal_error otherwise
Boost.Test was included as a standalone library (included/unit_test.hpp), but linked against a shared_library Boost::unit_test_framework
Issues on recent clang compilers
jorisv
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May 29, 2026
| - os: "macos" | ||
| python-version: "3.8" # Not available on arm64 | ||
| os: ["ubuntu-latest", "macos-latest"] | ||
| python-version: ["3.10", "3.11", "3.12", "3.13"] |
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Suggested change
| python-version: ["3.10", "3.11", "3.12", "3.13"] | |
| python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"] |
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| - name: Install Coal [MacOS/Linux/Windows] | ||
| run: | | ||
| pixi run -e ${{ matrix.environment }} install |
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Running this will rerun pixi run configure and pixi run build.
It's maybe better to directly run cmake.
| - name: Test Coal [MacOS/Linux/Windows] | ||
| if: matrix.run_tests == true | ||
| run: | | ||
| pixi run -e ${{ matrix.environment }} test |
| endif() | ||
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| # Fallback to FetchContent if not found | ||
| set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git") |
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To update when jrl-next is released
| ) | ||
| endif() | ||
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| add_library(coal-hpp-fcl-compatibility INTERFACE) |
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compatibility layer should be named hpp-fcl::hpp-fcl. So consumer doesn't have to care about target name.
| $<$<BOOL:${COAL_USE_FLOAT_PRECISION}>:COAL_USE_FLOAT_PRECISION> | ||
| $<$<BOOL:${COAL_TURN_ASSERT_INTO_EXCEPTION}>:COAL_TURN_ASSERT_INTO_EXCEPTION> | ||
| $<$<BOOL:${COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL}>:COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL> | ||
| $<$<BOOL:${COAL_BUILD_WITH_OCTOMAP}>:COAL_HAS_OCTOMAP> |
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You also need to define COAL_HAVE_OCTOMAP for back compatibility
| libboost-devel = ">=1.80.0" | ||
| eigen = ">=3.4.0" | ||
| eigen-abi-devel = ">=3.4.0" | ||
| eigenpy = ">=3.7.0" |
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eigenpy is only needed with boost-python feature.
| "-S", | ||
| ".", | ||
| # Don't use standard layout because it's not well implemented on Windows | ||
| "-DPYTHON_STANDARD_LAYOUT=OFF", |
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This doesn't exist anymore.
jorisv
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May 29, 2026
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Bad button, I request some changes ;)
jorisv
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Jun 2, 2026
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| jrl_option( | ||
| BUILD_PYTHON_INTERFACE | ||
| "Build the Python bindings (either with Boost.Python or Nanobind)" | ||
| OFF | ||
| ) |
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This option is set to ON by default in jrl-v1
jorisv
reviewed
Jun 2, 2026
| set_tests_properties( | ||
| ${test_name} | ||
| PROPERTIES | ||
| ENVIRONMENT "PYTHONPATH=$<TARGET_FILE_DIR:${coal_python_bindings}>/.." |
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It's better to use ENVIRONMENT_MODIFICATION to avoid issue with some package manager or custom installation path:
ENVIRONMENT_MODIFICATION
"PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:coal_python_bindings>/.."
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This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.
c++17minimum requiredhpp-fcl-compatiblityis now aCOMPONENT