Fix library anchors on Windows

tesseract-robotics · Nov 30, 2024 · 475e99b · 475e99b
1 parent 3f2f818
commit 475e99b
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Showing 4 changed files with 55 additions and 17 deletions.
diff --git a/tesseract_python/CMakeLists.txt b/tesseract_python/CMakeLists.txt
@@ -130,16 +130,55 @@ include(FindSWIG)
 find_package(SWIG 4.1.1 REQUIRED)
 include(UseSWIG)
 
+macro(tesseract_python_find_target lib_name search_target)
+  # Find install directory of search_target
+
+  get_target_property(search_target_location ${search_target} LOCATION)
+  if (NOT WIN32)
+  get_filename_component(search_target_location_dir ${search_target_location} DIRECTORY)
+  else()
+  get_filename_component(search_target_location_dir1 ${search_target_location} DIRECTORY)
+  get_filename_component(search_target_location_dir2 ${search_target_location_dir1} DIRECTORY)
+  set(search_target_location_dir "${search_target_location_dir2}/lib")
+  endif()
+  # Find library lib_name
+  unset(lib_name_location)
+  find_library(lib_name_location ${lib_name} HINTS ${search_target_location_dir} NO_CACHE)
+  if (NOT lib_name_location)
+    message(FATAL_ERROR "Could not find library ${lib_name}")
+  endif()
+  # Create import target
+  add_library(tesseract::${lib_name} SHARED IMPORTED)
+  if (WIN32)
+  set_target_properties(tesseract::${lib_name} PROPERTIES IMPORTED_IMPLIB_RELWITHDEBINFO ${lib_name_location})
+  set_target_properties(tesseract::${lib_name} PROPERTIES IMPORTED_IMPLIB ${lib_name_location})
+  set_target_properties(tesseract::${lib_name} PROPERTIES IMPORTED_LOCATION ${lib_name_location})
+  else()
+  set_target_properties(tesseract::${lib_name} PROPERTIES IMPORTED_LOCATION ${lib_name_location})
+  endif()
+endmacro()
+
+tesseract_python_find_target(tesseract_collision_fcl_factories tesseract::tesseract_collision_core)
+tesseract_python_find_target(tesseract_collision_bullet_factories tesseract::tesseract_collision_core)
+tesseract_python_find_target(tesseract_kinematics_kdl_factories tesseract::tesseract_kinematics_core)
+tesseract_python_find_target(tesseract_kinematics_ur_factory tesseract::tesseract_kinematics_core)
+tesseract_python_find_target(tesseract_kinematics_opw_factory tesseract::tesseract_kinematics_core)
+#tesseract_python_find_target(tesseract_kinematics_core_factories tesseract::tesseract_kinematics_core)
+tesseract_python_find_target(tesseract_task_composer_factories tesseract::tesseract_task_composer)
+tesseract_python_find_target(tesseract_task_composer_planning_factories tesseract::tesseract_task_composer)
+# tesseract_python_find_target(tesseract_task_composer_planning_nodes tesseract::tesseract_task_composer)
+tesseract_python_find_target(tesseract_task_composer_taskflow_factories tesseract::tesseract_task_composer)
+
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/tesseract_python_module.cmake)
 
 tesseract_python_module(tesseract_common_python SWIG_SRCS swig/tesseract_common_python.i PACKAGE tesseract_common LIBS tesseract::tesseract_common )
 tesseract_python_module(tesseract_geometry_python SWIG_SRCS swig/tesseract_geometry_python.i PACKAGE tesseract_geometry LIBS tesseract::tesseract_geometry )
-tesseract_python_module(tesseract_collision_python SWIG_SRCS swig/tesseract_collision_python.i PACKAGE tesseract_collision LIBS tesseract::tesseract_collision_core Bullet3::Bullet ) # tesseract::tesseract_collision_bullet_factories tesseract::tesseract_collision_fcl_factories )
+tesseract_python_module(tesseract_collision_python SWIG_SRCS swig/tesseract_collision_python.i PACKAGE tesseract_collision LIBS tesseract::tesseract_collision_core Bullet3::Bullet tesseract::tesseract_collision_bullet_factories tesseract::tesseract_collision_fcl_factories )
 tesseract_python_module(tesseract_scene_graph_python SWIG_SRCS swig/tesseract_scene_graph_python.i PACKAGE tesseract_scene_graph LIBS tesseract::tesseract_scene_graph )
 tesseract_python_module(tesseract_srdf_python SWIG_SRCS swig/tesseract_srdf_python.i PACKAGE tesseract_srdf LIBS tesseract::tesseract_srdf )
 tesseract_python_module(tesseract_urdf_python SWIG_SRCS swig/tesseract_urdf_python.i PACKAGE tesseract_urdf LIBS tesseract::tesseract_urdf )
 tesseract_python_module(tesseract_state_solver_python SWIG_SRCS swig/tesseract_state_solver_python.i PACKAGE tesseract_state_solver LIBS tesseract::tesseract_state_solver_core tesseract::tesseract_state_solver_ofkt tesseract::tesseract_state_solver_kdl)
-tesseract_python_module(tesseract_kinematics_python SWIG_SRCS swig/tesseract_kinematics_python.i PACKAGE tesseract_kinematics LIBS tesseract::tesseract_kinematics_core )#  tesseract::tesseract_kinematics_kdl_factories tesseract::tesseract_kinematics_ur_factory tesseract::tesseract_kinematics_opw_factory tesseract::tesseract_kinematics_core_factories )
+tesseract_python_module(tesseract_kinematics_python SWIG_SRCS swig/tesseract_kinematics_python.i PACKAGE tesseract_kinematics LIBS tesseract::tesseract_kinematics_core tesseract::tesseract_kinematics_kdl_factories tesseract::tesseract_kinematics_ur_factory tesseract::tesseract_kinematics_opw_factory tesseract::tesseract_kinematics_core_factories )
 tesseract_python_module(tesseract_environment_python SWIG_SRCS swig/tesseract_environment_python.i PACKAGE tesseract_environment LIBS tesseract::tesseract_environment )
 tesseract_python_module(tesseract_visualization_python SWIG_SRCS swig/tesseract_visualization_python.i PACKAGE tesseract_visualization LIBS tesseract::tesseract_visualization)
 tesseract_python_module(tesseract_command_language_python SWIG_SRCS swig/tesseract_command_language_python.i PACKAGE tesseract_command_language LIBS tesseract::tesseract_command_language)
@@ -149,7 +188,7 @@ tesseract_python_module(tesseract_motion_planners_trajopt_python SWIG_SRCS swig/
 tesseract_python_module(tesseract_motion_planners_ompl_python SWIG_SRCS swig/tesseract_motion_planners_ompl_python.i PACKAGE tesseract_motion_planners_ompl LIBS tesseract::tesseract_motion_planners_ompl )
 tesseract_python_module(tesseract_motion_planners_descartes_python SWIG_SRCS swig/tesseract_motion_planners_descartes_python.i PACKAGE tesseract_motion_planners_descartes LIBS tesseract::tesseract_motion_planners_descartes )
 tesseract_python_module(tesseract_time_parameterization_python SWIG_SRCS swig/tesseract_time_parameterization_python.i PACKAGE tesseract_time_parameterization LIBS tesseract::tesseract_time_parameterization_core tesseract::tesseract_time_parameterization_isp tesseract::tesseract_time_parameterization_totg tesseract::tesseract_time_parameterization_ruckig)
-tesseract_python_module(tesseract_task_composer_python SWIG_SRCS swig/tesseract_task_composer_python.i PACKAGE tesseract_task_composer LIBS tesseract::tesseract_task_composer tesseract::tesseract_task_composer_nodes tesseract::tesseract_task_composer_taskflow tesseract::tesseract_collision_core ) # tesseract::tesseract_task_composer_factories tesseract::tesseract_task_composer_planning_factories tesseract::tesseract_task_composer_planning tesseract::tesseract_task_composer_taskflow_factories )
+tesseract_python_module(tesseract_task_composer_python SWIG_SRCS swig/tesseract_task_composer_python.i PACKAGE tesseract_task_composer LIBS tesseract::tesseract_task_composer tesseract::tesseract_task_composer_nodes tesseract::tesseract_task_composer_taskflow tesseract::tesseract_collision_core  tesseract::tesseract_task_composer_factories tesseract::tesseract_task_composer_planning_factories tesseract::tesseract_task_composer_planning_nodes tesseract::tesseract_task_composer_taskflow_factories )
 
 set(TESSERACT_PYTHON_MODULE_TARGETS 
   _tesseract_common_python

diff --git a/tesseract_python/swig/tesseract_collision_python.i b/tesseract_python/swig/tesseract_collision_python.i
@@ -102,6 +102,6 @@ class ContactResult;
 
 %init %{
 // TODO: fix anchors
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_bullet::BulletFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_fcl::FCLFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_bullet::BulletFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_fcl::FCLFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
 %}
diff --git a/tesseract_python/swig/tesseract_kinematics_python.i b/tesseract_python/swig/tesseract_kinematics_python.i
@@ -132,11 +132,11 @@ struct KinGroupIKInput;
 
 %init %{
 // TODO: fix anchors
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::REPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::ROPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::KDLFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::OPWFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::URFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::REPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::ROPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::KDLFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::OPWFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::URFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
 
 
 

diff --git a/tesseract_python/swig/tesseract_task_composer_python.i b/tesseract_python/swig/tesseract_task_composer_python.i
@@ -299,10 +299,9 @@ enum class future_status {
                               %arg(env, profiles, name));*/
 
 // contact_check_profile
-// TODO: Fix library linking
-// %shared_ptr(tesseract_planning::ContactCheckProfile)
-// %include "tesseract_task_composer/planning/profiles/contact_check_profile.h"
-// %tesseract_command_language_add_profile_type(ContactCheckProfile);
+%shared_ptr(tesseract_planning::ContactCheckProfile)
+%include "tesseract_task_composer/planning/profiles/contact_check_profile.h"
+%tesseract_command_language_add_profile_type(ContactCheckProfile);
 
 // fix_state_bounds_profile
 %shared_ptr(tesseract_planning::FixStateBoundsProfile)
@@ -348,9 +347,9 @@ enum class future_status {
 
 %init %{
 // TODO: fix anchors
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerPlanningFactoriesAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerTaskflowFactoriesAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
-// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerTaskFactoryAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerPlanningFactoriesAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerTaskflowFactoriesAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
+tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_planning::TaskComposerTaskFactoryAnchor(), "TESSERACT_TASK_COMPOSER_PLUGINS");
 
 %}