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Enable python bindings compilation for human-dynamics-estimation if ROBOTOLOGY_USES_PYTHON is enabled #1717

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merged 4 commits into from
Sep 26, 2024
Merged

Enable python bindings compilation for human-dynamics-estimation if ROBOTOLOGY_USES_PYTHON is enabled #1717

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0b8d032
Enable python bindings compilation for human-dynamics-estimation
traversaro Sep 18, 2024
5c9e56d
Update BuildHumanDynamicsEstimation.cmake
traversaro Sep 23, 2024
e05a02d
Merge branch 'master' into fix1707
traversaro Sep 25, 2024
28fe413
Bump hde to 4.0.1
traversaro Sep 26, 2024
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25 changes: 23 additions & 2 deletions cmake/BuildHumanDynamicsEstimation.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,24 @@ find_or_build_package(osqp QUIET)
find_or_build_package(OsqpEigen QUIET)
find_or_build_package(robometry QUIET)

# For what regards Python installation, the options changes depending
# on whether we are installing HDE in the superbuild, or generating a
# conda package
# See https://github.com/robotology/robotology-superbuild/issues/641
set(HDE_OPTIONAL_CMAKE_ARGS "")
if(ROBOTOLOGY_USES_PYTHON)
if (NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
# If we are not generating a conda recipe, the bindings need to go in the ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR
list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
else()
# If we are building a conda package, the active environment is the correct place were to install the python bindings
list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
endif()
endif()


if(WIN32)
list(APPEND HDE_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
list(APPEND HDE_OPTIONAL_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
endif()

ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
Expand All @@ -21,7 +37,7 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
TAG master
COMPONENT human_dynamics
FOLDER src
CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON ${HDE_CMAKE_ARGS}
CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON} ${HDE_OPTIONAL_CMAKE_ARGS}
DEPENDS iDynTree
YARP
osqp
Expand All @@ -30,3 +46,8 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
robometry)

set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)

if(ROBOTOLOGY_USES_PYTHON)
list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES python)
list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES pybind11)
endif()
2 changes: 1 addition & 1 deletion cmake/BuildiDynTree.cmake
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Expand Up @@ -11,7 +11,7 @@ set(iDynTree_DEPENDS "")
list(APPEND iDynTree_DEPENDS OsqpEigen)

# For what regards Python installation, the options changes depending
# on whether we are installing YARP from source, or generating a
# on whether we are installing iDynTree from source, or generating a
# conda package on Windows as in that case the installation location
# will need to be outside of CMAKE_INSTALL_PREFIX
# See https://github.com/robotology/robotology-superbuild/issues/641
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2 changes: 1 addition & 1 deletion releases/latest.releases.yaml
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Expand Up @@ -122,7 +122,7 @@ repositories:
HumanDynamicsEstimation:
type: git
url: https://github.com/robotology/human-dynamics-estimation.git
version: v4.0.0
version: v4.0.1
human-gazebo:
type: git
url: https://github.com/robotology/human-gazebo.git
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