Merge pull request #3645 from jamiesnape/use-non-pod-snopt

Use non-POD snopt
RobotLocomotion · Oct 5, 2016 · 232fd58 · 232fd58
2 parents 75bdcb8 + 2cf2123
commit 232fd58
Show file tree

Hide file tree

Showing 12 changed files with 40 additions and 13 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -112,7 +112,6 @@ drake_add_external(gloptipoly CMAKE)
 drake_add_external(gurobi)
 drake_add_external(meshconverters PUBLIC CMAKE)
 drake_add_external(mosek PUBLIC)
-drake_add_external(snopt CMAKE)
 drake_add_external(spdlog PUBLIC CMAKE)
 drake_add_external(swigmake PUBLIC CMAKE)
 drake_add_external(yalmip PUBLIC CMAKE)
@@ -198,6 +197,23 @@ drake_add_external(nlopt PUBLIC CMAKE
 drake_add_external(sedumi CMAKE
   CMAKE_ARGS -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
 
+# snopt
+if(NOT DISABLE_MATLAB AND matlab)
+  set(SNOPT_EXTRA_CMAKE_ARGS
+    -DBUILD_SNOPT_C_MEX=ON
+    -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})
+else()
+  set(SNOPT_EXTRA_CMAKE_ARGS
+    -DBUILD_SNOPT_C_MEX=OFF)
+endif()
+
+drake_add_external(snopt CMAKE
+  CMAKE_ARGS
+    -DBUILD_SNOPT_CPP=OFF
+    -DBUILD_SHARED_LIBS=ON
+    -DBUILD_TESTING=OFF
+    ${SNOPT_EXTRA_CMAKE_ARGS})
+
 # spotless
 drake_add_external(spotless PUBLIC CMAKE
   CMAKE_ARGS -DMatlab_ROOT_DIR=${MATLAB_ROOT_DIR})

diff --git a/drake/bindings/python/CMakeLists.txt b/drake/bindings/python/CMakeLists.txt
@@ -11,6 +11,8 @@ function(drake_add_python_test module_name)
     WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages)
 endfunction()
 
+find_package(snopt_c)
+
 if(snopt_c_FOUND)
   drake_add_python_test(pydrake.test.testRBTIK)
   drake_add_python_test(pydrake.test.testPR2IK)

diff --git a/drake/bindings/swig/CMakeLists.txt b/drake/bindings/swig/CMakeLists.txt
@@ -25,6 +25,8 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-maybe-uninitialized")
 endif()
 
+find_package(snopt_c)
+
 if(PYTHON_EXECUTABLE)
   include(SwigPython)
   set(python_install_subdir lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages ${CMAKE_CURRENT_SOURCE_DIR}/../python)

diff --git a/drake/examples/Pendulum/CMakeLists.txt b/drake/examples/Pendulum/CMakeLists.txt
@@ -49,6 +49,8 @@ if(lcm_FOUND)
   # TODO(sam.creasey) There is currently no non-linear solver on Windows: see
   # issues #2352, #2569.
   find_package(NLopt)
+  find_package(snopt_c)
+
   if(ipopt_FOUND OR NLopt_FOUND OR snopt_c_FOUND)
     drake_add_test(NAME pendulum_run_swing_up
       COMMAND pendulum_run_swing_up --non-realtime)

diff --git a/drake/examples/Pendulum/test/CMakeLists.txt b/drake/examples/Pendulum/test/CMakeLists.txt
@@ -13,6 +13,8 @@ if(lcm_FOUND)
   # TODO(sam.creasey) There is currently no non-linear solver on Windows: see
   # issues #2352, #2569.
   find_package(NLopt)
+  find_package(snopt_c)
+
   if(ipopt_FOUND OR NLopt_FOUND OR snopt_c_FOUND)
     drake_add_test(NAME pendulum_trajectory_optimization_test
       COMMAND pendulum_trajectory_optimization_test)

diff --git a/drake/matlab/solvers/CMakeLists.txt b/drake/matlab/solvers/CMakeLists.txt
@@ -10,10 +10,11 @@ endif()
 add_mex(lqrmex lqrmex.cpp)
 target_link_libraries(lqrmex drakeUtil)
 
-pods_find_pkg_config(snopt_c)
+find_package(snopt_c)
+
 if(snopt_c_FOUND)
   add_mex(NonlinearProgramSnoptmex NonlinearProgramSnoptmex.cpp)
-  pods_use_pkg_config_packages(NonlinearProgramSnoptmex snopt_c)
+  target_link_libraries(NonlinearProgramSnoptmex snopt_c)
 
   # These warnings are not worth fixing.
   target_compile_options(NonlinearProgramSnoptmex PRIVATE

diff --git a/drake/solvers/CMakeLists.txt b/drake/solvers/CMakeLists.txt
@@ -36,7 +36,7 @@ if(dreal_FOUND)
 else()
   list(APPEND optimization_files no_dreal.cc)
 endif()
-pods_find_pkg_config(snopt_c)
+find_package(snopt_c)
 if(snopt_c_FOUND)
   list(APPEND optimization_files snopt_solver.cc)
 else()
@@ -97,7 +97,7 @@ if(dreal_FOUND)
   pods_use_pkg_config_packages(drakeOptimization dreal)
 endif()
 if(snopt_c_FOUND)
-  pods_use_pkg_config_packages(drakeOptimization snopt_c)
+  target_link_libraries(drakeOptimization snopt_c)
 endif()
 if(gurobi_FOUND)
   pods_use_pkg_config_packages(drakeOptimization gurobi)

diff --git a/drake/solvers/trajectoryOptimization/test/CMakeLists.txt b/drake/solvers/trajectoryOptimization/test/CMakeLists.txt
@@ -4,6 +4,8 @@ target_link_libraries(trajectory_optimization_test drakeTrajectoryOptimization
 # TODO(Lucy-tri) There is currently no non-linear solver on Windows: see
 # issues #2352, #2569.
 find_package(NLopt)
+find_package(snopt_c)
+
 if(ipopt_FOUND OR NLopt_FOUND OR snopt_c_FOUND)
   drake_add_test(NAME trajectory_optimization_test COMMAND
     trajectory_optimization_test)

diff --git a/drake/systems/plants/CMakeLists.txt b/drake/systems/plants/CMakeLists.txt
@@ -51,7 +51,7 @@ pods_install_pkg_config_file(drake-rbm
   VERSION 0.0.1)
 
 pods_find_pkg_config(gurobi)
-pods_find_pkg_config(snopt_c)
+
 add_subdirectory(shapes)
 add_subdirectory(collision)
 add_subdirectory(constraint)
@@ -173,6 +173,8 @@ if(MATLAB_FOUND)
     target_compile_options(${ARGV} PRIVATE ${CXX_FLAGS_NO_SIGN_COMPARE})
   endmacro()
 
+  find_package(snopt_c)
+
   if(snopt_c_FOUND)
     add_ik_mex(inverseKinmex)
     add_ik_mex(inverseKinPointwisemex)

diff --git a/drake/systems/plants/test/CMakeLists.txt b/drake/systems/plants/test/CMakeLists.txt
@@ -38,7 +38,7 @@ if(gurobi_FOUND)
   add_ik_cpp(testApproximateIK)
 endif()
 
-pods_find_pkg_config(snopt_c)
+find_package(snopt_c)
 pods_find_pkg_config(ipopt)
 
 if(snopt_c_FOUND OR ipopt_FOUND)

diff --git a/drake/systems/trajectories/CMakeLists.txt b/drake/systems/trajectories/CMakeLists.txt
@@ -16,21 +16,19 @@ find_package(Bullet)
 
 if(BULLET_FOUND AND MATLAB_FOUND)
   find_package(BLAS)
-  pods_find_pkg_config(snopt_c)
+  find_package(snopt_c)
 
   if(BLAS_FOUND AND snopt_c_FOUND)
     add_mex(replanFunnels_mex replanFunnels_mex.cpp)
-    pods_use_pkg_config_packages(replanFunnels_mex snopt_c)
     target_include_directories(replanFunnels_mex PRIVATE ${BULLET_INCLUDE_DIRS})
-    target_link_libraries(replanFunnels_mex drakeMexUtil
+    target_link_libraries(replanFunnels_mex drakeMexUtil snopt_c
       ${BLAS_LIBRARIES} ${BULLET_LIBRARIES})
     set_property(TARGET replanFunnels_mex APPEND_STRING PROPERTY
       LINK_FLAGS "${BLAS_LINKER_FLAGS}")
 
     add_mex(shiftFunnel_snopt_mex shiftFunnel_snopt_mex.cpp)
-    pods_use_pkg_config_packages(shiftFunnel_snopt_mex snopt_c)
     target_include_directories(shiftFunnel_snopt_mex PRIVATE ${BULLET_INCLUDE_DIRS})
-    target_link_libraries(shiftFunnel_snopt_mex drakeMexUtil
+    target_link_libraries(shiftFunnel_snopt_mex drakeMexUtil snopt_c
       ${BLAS_LIBRARIES} ${BULLET_LIBRARIES})
     set_property(TARGET shiftFunnel_snopt_mex APPEND_STRING PROPERTY
       LINK_FLAGS "${BLAS_LINKER_FLAGS}")

diff --git a/externals/snopt b/externals/snopt